diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a5284520fb1cd42a350a71fe78be12dfd97f469
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4daf76da227475419341eef6689908433b35a6aa2e04ed07ca61c0243218c9f0
+size 30078943
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93221b5a1f3b608691f3058bf94c00612488a989
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28597648d4e10845054df80d076105ccfed40c3e99fc269bbb06261418ad942c
+size 32890031
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..739d2e10c175b6ef981e81390e07e5feb80d1663
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe6f91358ce629f2e23bd8b2650f45d93bc10e26b9286919c94a6cf5b73e6ea
+size 43267421
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f44e4ddbc8f8d05c67c402f74b3da39e29a211ee
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41c4b054d553ea27b9618f95f01ea4943c65642ca12106d9200bfb2060fdb1f0
+size 38076711
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d7bdc431ff0c806c589a62a20e493dc93f65cdf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1e8531d030af78dcf8c977bd64bbac6092766d99918226b4d810a749de6e12
+size 33277892
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ae5b81725a74b5b5f50bbe6a23cb67f5bc8ba40
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3895edb672bceab2469db0dd397e0d83c894fbca7ee5ed05abef11e3eba79da9
+size 37968923
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..927a14a379c648ab129e8394baec32c7d2afcf15
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2236863c0c9070a4ff59cd528096480af3dff432b69f3c52c4c3008ed5057978
+size 35784651
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1fc0319e6b349fe3551098692fb377a218d3818
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33f3ba4ea3ca567c6206518baadb4b64940cae27f353672f9032c3e30ee984da
+size 35530210
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93b046c2942ee72965ed8388125e52f8210c3c11
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66edf9089db794bf18b3221049599fcf89e32cd5af9e17276057ba35540432ad
+size 43546821
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbe54c2ee57cfd6a90944425866ac3d9dc10a611
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe49d5a7dbfdbee6efc151453d526602d8a53a0215eb86662fd97380cc9f80f
+size 37544420
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bca34dc599cd4b4ae19f6ba35850e10dee857573
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f910627fda06599276cc5d9f71bf1bc1f604d8f2e4a61c9861f3d8c8674102e5
+size 41214703
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df80ce0398f113fcd921855657c61b991cfef43a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddc8be513da05be5337ba405d598b3e43842ac7d4f44a2a759c360a66d53639f
+size 45068758
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca5313850eac86f6fb7845a4728881271d151ac3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700a0713a8acf1ffeaf01a7d8fd8859b85b5ee762f7b600fc97b0d1ef4113ae2
+size 33854093
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d717927fd8d6f45e7069ed3cf1c4c636c510c372
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701e92cfea8cb70f8d4e5b5118d2397ca737552a477396d52ea7c74e765d682d
+size 41857955
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..845350b47fc82ae22eaa3ccb3eb38d0f49395dee
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993e78c7c32d86ab5c4d09533e679f03b5dde5420cee7c052b8eef4f5bfdc766
+size 1091885
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..728d7d000e033c96262579cc85dc3c248274be29
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e8db449f469598136d4741ea38e5b629a784beee64abd18a0a07a37f7f601b
+size 1189635
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f34cf947c2e97f84924568e098d321e61abad590
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d426dffb968703470b27df6a69ff53f9b518a1d78e810d46dca0df8d11d1599c
+size 983683
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3e6cbfcd63cfb38a9df4793abd24657637a0447
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f20a1cfd8979e89d3c1c06e7427e51d2577b0e9e10111c2707d33683517dfa
+size 1085895
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6faee4935654d74d193f381359ff078bc76841af
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d6be7d0dd9c9e885f298f84aaa4e99bf7f11cca85b3b50703fb5504ba3bc2e
+size 1089776
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..571c9100acabba96497fb5c07403cb7e3a990476
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481002bc3b3894bf27df61a3a7198402d79c899a36276496eb7fabc1288402d9
+size 960249
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a41a83e6d0e65df2be9761f85d1546a8feccb15
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2800cfdea5aff6febb03081e4037796a8754604d26c51779b328fc788d526976
+size 1016244
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..439b0c64ef4b49c78eeaf7b77f527c958f4593fb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4da16e1a4da2d33965eb6eb3382971ef579f44e2155988c7372533b8cc4d1a5c
+size 862142
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d34d919c7e4cd7bec8112016ad59dcb3097431b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ee9e05ff0d4f3d76d2116639482a9b475677ed88904b39d2240129f3a5bf9d
+size 1011382
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..accd353babeb3ae584c15aff771f71b5a9510f7c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa63af0821a1893448967863db6117c7962c33e2f45cff4554e6890b6145f43
+size 980230
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57adaafd14b7d1dc2015e804c42baa14d17af424
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66c1260698830baf963d2d6fa1a3ca57b548fe04643145096eafc343d4d0f62
+size 917124
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8f0484bd7b338e7e65a09cdd20866383290c09c1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:489ed0aa5621e8b9aa75e8a181f12e240b9ed141d43499f964246ca969766271
+size 926816
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d448f34e8311c2473d108940cc42a03e2263ca6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d68e881f695f3af6a77647b9c9bbed70b64fdf2a2a31ebbef4ea17863e78bc
+size 856319
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f4c935e9d9bf18ffa8fc3c666785ed3cb8f35dd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5463250413298ec558e041a30c42d7eaa77f0ec13c6eb63ba1a85791156e88
+size 1145814
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d593a90a326918a7e05ec610a80914a908a054f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ff3364a2d9270186f06cdd40cd17e2ae9a2da91006afc1c4cc87a7d61fc6d0
+size 901210
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3abbaaad84abe5b45bbbb9b8b89b0f97a8d2dc01
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b2cfbc9952aeb01c71212d640892ab74ffc7c2de17150e7f308b30c92d1fddc
+size 896983
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e85a664cf883e1ec5a8d82bd041810e023978f2e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e74ea2a79a49c20805d177ee7f6ea32721103c816cd1a65ae34c0e1750f550f
+size 1365386
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..737cef436a89403f06ce170f6558caa01da99675
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e718887d644688e9356e5f9cc0b26661b7307d8f92d803ac888acf02db4d025e
+size 922925
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e1cfaf97903fc00cb4efd68d7aeead55481da6e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:968009e4553730e67066c838fa62f380320599b1715afd9ad7927ca4e96ebc16
+size 1086369
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..165f638e9bfded4668bc1779203b1774b57d0c5e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f95c4b347cb22652f38e1c3733e206c6e26c600671b3fc167bfa9e8b98d0cc8
+size 1031432
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00196197b61ac2b96211252e72340c7df61cd74d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2f62aa74c7fd410a839f76cfee73adafe303037ac10bf770ac8de19c3485209
+size 931392
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8df107e6d12ab6c7c4813722737935aeb5cc8077
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ed59a952860f66b47ee30e04bea1ee5d20ddf8c11cd9505ff9bfa3da609b5b7
+size 686343
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0028dca28b7e0f414ebb68c159dedc709f2d1e7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6cbd43a68d002e505a88e400d93d744e27d42251bd0920b8a9518a857bacf5
+size 735602
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..511be6a915c9b01f74027cbc586d48350dba6169
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5f62ee5347084cf6727ef10ce9f6b4acfdaf0aa5b8f99a28c508233770ebb6
+size 909125
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0d24cc8d4c3765e3de640fd8268b08fb0dedddd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2b4add29795731ece4a9d10c76f51d010eebde4bd12c79b4ed9860e3e3a308
+size 872599
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9242cae077d1346c91ef5a84f371d28421af6d7f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6eac008f0efafbe82413621043705518abdbae1fa75061be0e016d11bc4fdc
+size 804061
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5d65ffc1e08ff324716c3f956d82528405aa22e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70dbe83e0a0e70e67795a8d2ba6339097e62c46a362d9b31dc9ca2f16a469fd9
+size 775476
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..625f3242c69677bde72dbe23f8cf4ff16c529d45
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e79394688b617d429b9d1d776e8e0cb068485dda73c4f33ce624ec548d3878d
+size 824657
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f564e2e732cb53e228c9e2a47deea872a319376
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45dee00f42a66a867029ba286c1c90d2d173c0ca92596ab0768e6150bddc8fd5
+size 841297
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6f51d66cf642cfc177ca875a2f171f7055a0561
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2664e49d7a73600bc21b4e7c751f2391e6bc92fd12bfa288987128fcae16e03
+size 1015928
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2befb0ded5f611eafa47304490dbdcbeed9b97f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832e9496d43e218b92d6d5aa4e0448e23ec955e16a11d28ed9c2d71d0ba5e2dd
+size 803789
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20956918fed7d55c0e0f059f63d3479caf7afaea
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204f811319b79816aa5610dab53659a034d2b9812af79b3198cd7b8d350e93cd
+size 991104
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99fcfa0bb9c78e67360045a68a41465dd80ec3b4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e34c0ecf692ed93cf93f0442d9cf366ab8853fa7b85f400164756afc94f298
+size 901373
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf2fad84c76d5fa7131b6fc299ab7ce71f3ee9ec
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afdf064c145afc54e30cbcffeffd94eb3756b758866941649cfd5848db64a5ef
+size 769396
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0f99a11af4c525d5cf466715adb6cc829652964
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b1ebc2168a7b10e506a25b472d1e0043da0a823858674c50c2e80a14caeef8
+size 883474
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ebb2ff51f269b256daa3fae3c913e10fd3be033
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3965128178514b61bb6c221622a2e4f1af0a096cd444d5cd0ec85f01b8f622f0
+size 297607450
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13f22238468d04b5df24d5aed25ac03f0b1b2d8b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e970a3c7fd7c7f388738993cf41859e768e9feccdc192e7f7e2fe9edb5e6f33
+size 345889953
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ba9776d16df95ff14bb9ff5a7f5c2d82cbca1d6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfd6ab6da316d504e10b4ea879968d7fb7c5506d48e391cbc58e459709808e1
+size 265059292
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..354e74a1322cb32f1bb4bf50c99dddc018ce92ae
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f401ff3595045bcb7a2c57e3e619e897615935d43e902f541f5af2087839f9a9
+size 298735452
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a83a35a8c9304b598680fe099dfe1722cfddeae
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc795c8bc8d9a2937e5039c3e708d60ac9a01279135f2aadf32066d4155d564c
+size 268939249
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72448bd4f11b4a79b353539853427f7fcde524d2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eadfdc54ddb2086bd59c0ffdfc83c8e71fdc16da44f3bed842051a7f2647cc0
+size 255552517
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9a81748700a5fa2f797ccd0a3345fd94eb72e8d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8568ff296682e659f6bc2bcd13c404498ce35e3697be2d4477529bd978ca7234
+size 269705233
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2fe1ac075a74a550910019c2569d3eff67946254
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b655513fdda20155bf7b9237c22ec6bc80158f318735c211c17cfe74391cdff2
+size 230426718
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74e0d07b6c9b2e864fbd1abbf8de938ec1211869
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4af6212bdd62467e0671396d3b73e2e2b3cec5b1a42d5719b4c6a87a2ab3174
+size 268387361
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..775fc070307b6c6fc861e964b1f80f17d32d8c19
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8a5f27cb141f3441046a47825cb3f5284061c65e3d76ac0768498d1d93acb4a
+size 261585313
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d1790a390c581f327da3c617e38d4157e213590
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a446225a67b158b047fdedaaca4629b6fd56a82f9c4dde3c30df50bcbd169176
+size 227225039
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9b31b44b13cbad5fb19a4817f85daf68c0a243d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb567980e3d1513a8e74abc2d1dd933efebd0e3a7a1058be8930cd496f89303f
+size 242279615
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99ff4dc5c4eaf73a8141de62bb5daea6a28e309e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0247a0d5f077fd5402298aa03855f9a2e992b25593b17f9be86dab2bee1f454
+size 245862385
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f61315c89a38c93116bd7739c9b665c28fe04a9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:454512c21f1419a52cdb8909ba2e5812793b1dc883fcdd450e4f79fa5b11ebe8
+size 297494919
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..166b6581a140ebb344042c1c1be993e4eaf2e9fd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea6beab974d0a2473d9e90093e2376305572899d061019630ed410b23bf7451
+size 212056749
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..980422218367e332ce79ad227b72e580323b43e0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d60a7d46b755852a5e87bcf4e1b4e42d08fb9f0bd0fdf4c2b7a5c6e580b4b13b
+size 225323247
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f891e77425227d8f5a06464f106b2c1f92c2d742
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04dfe6cf43136df660558f65c1d669f51c2879a65f039c3b3a0d54eb4eef2bff
+size 345857007
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2622539599a7fc88f42d43db141a81451ce375a9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72c0b102d9ded99aea8f61745864f4636d45ca984222a58b30787a60501cbb8c
+size 229650654
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d1291db6ea58a88f66cb61032a1af76a5a81a17
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce0e9b41e835bee6c848c7f21c995db59accc52efa2022fb031e23e3a8ea3b31
+size 304091084
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00d784d455999196db4fa1c6296fe50b1937e5cb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e027405d7343f139081291bde435e53473a69c3108990387d7c0be614ce4bae
+size 236992434
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1067bf71f25a0e91e6834f3f4f15a4edfd6a8fc5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbdab3c7ef15c4def55976d9441070375903d64818bebf5dceb630b64ecaf472
+size 265444557
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..789b17757ce8049ffd3e134ad19a7eee7b2c873e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edde1549bf81a0946d72b09ea6b1799116f8864b24e2e004646d9b8d6aee8144
+size 203518584
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..472a154565a229af0cee08ee23d3086eb917c90d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f292951b4a514441666b183e369ac0392a6d806760208afa7b23f98fe4c3fa1
+size 224476499
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9276e0545eee4f0cf1dfc0bad0a57038bc38fdb7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade7ff305d93da94ec21aa08626ca1c5ba1fff206773b7186d9b2d420ad57b1a
+size 285966754
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60bc37b9ba4774d4f8921fc3c5a8ce7c3e05ccf9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a791a3062c55715606a85441edb20799f07b23860d6762c955e9379b0362aec6
+size 236769695
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..babb612d4bab9f92ed70eab46082225004616b6b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d72ab00702f531e2021b03f28d74b37082973907de2cfe5c6957cde311462ba
+size 206593097
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f45f7c6d3334e9fae97181e64dc0a58c5594ba9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc5574f0ef8f9d05c9ff8161fe9c54b7562c6639c9b2b44a5af184cdb40fdda1
+size 232442382
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3c9f907fd872a309aed93a61e4b5ca0e5783643
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f18805c117f5577766c21b65f57cfab5632ca2e5e7b2d53a4e71ed57ac39871
+size 218794449
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd5b9937dfc8c975872c90ae0e44bfbb30544f9f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e0f3241999bfd1c37858fc67c8cda12a4e2e7946daa35963de9affd14d379d
+size 227670357
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dd52ca5f4bee9aefc07634806f416df8e6b356f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb71e6aa9649113df7c559127dc066a443de66e05aeb0f1dadcf2aabd97ea2b
+size 261674266
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..994165a2ff2a69da97cf511e203406681a0bf716
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34df87a04a052989471c59f07ed1fdd1793d17e1db9864a084ce4f2639a8a082
+size 225457783
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed17fd1a875bb9d984cbe5285ebc009f7d48af7e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99b6d7f6e4a34b7deef43ccd47987069d88b59c3b493270f45ea240ea4e5e78
+size 256266632
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fdc1d08401a6ff64d5a6206b44046c0c6ff30b0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9afe72d1da8c430fc1771c1f7b5a9b9a209ab9d6ed4ed1a071f51320f6e6bbc4
+size 261292884
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b6d001a81fb2c070467782b033c72c455df61ed
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f430837f36029c8c25b9656686839ec31c646e796d3b8a67698ffef2c7da6d97
+size 216565758
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7f6976ce12a30e28288a608304f1796bc071443
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481a61de1aa6c2a940cfaec77a625697766feb3f15e7c9c49a26a701f87af6fa
+size 254966868
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b2b665df24ad51682a94892d88c9faa75db1b5b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dacac160d51f438c1fabebde528111fbce9fd9ce3ab2d13ac7264f2f570d90c8
+size 50331381
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2034bfbf65817f3ee9ff08b24c271e0f567d7a34
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20748c8cec89178404d2ef14635ddf1ac114505a01471fa7326c503f13258bd0
+size 57507603
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b79ba1683a4f89855d08c6fe8744c635218084a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11b99bbbfa7fcfb323bc89dccce5c6ef2ee15e97deb75d678d6f492b8a85bc20
+size 43504071
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c67ce99100b088a294417e1f79cdf7a11a527ae
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99152dab56621d3cf64ec7b187ee24d553dd5bef48b1f9ad55543d6bcdae1b4
+size 48864250
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b28a064caa5cb20db75ec9cc6892ac1e0ed7e99d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7572d6a5b603165773ffb234ab262236ddf5f0c595aab635771e1dc36691235
+size 43109628
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9598c7d328e05032d08c4f8d4680d242c8aff696
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f889783eaae850d559e0dbded2b169ade742ec8090da67226e671daaacde2d4
+size 42574679
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64066d9363255d05a20496f996a57f4c3289585e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38538fa3b6cbcdbf81e35dfc3ff6e18518dfa1d4536a5aae5077d5ba105b0bb1
+size 43613932
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f50b437c1f25c942386277e1ca826ebe8f5fb986
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28fa4c69c2ba42e07e71a3f57321757b9c2aaf75cbc404586e5a8c1d9ef0db8f
+size 37546343
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92bf088b3fdd21301fc0f50b80efd3ad8990352c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97102712bc25b2b5002409f39101b2d679c62b8a4e74903a67f8df3c29ceac9c
+size 43561721
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db137abd7f7a2248890baae21419510d323add06
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f7cd4748c6d0234b13e7eaef75067f8c7203e7540cdcbbfd2fa90e610b1a10
+size 42495423
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..834cc9a998beb4ff5c5e108debd39d0df6dae88a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f156e675e3ac5011104dce1915f0755e8b703f5695ddf80c5d4e0f4acd77b2
+size 36870608
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e44ad1d73226f3c877a667bedd8f1d574dacc1ca
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f59dc77479da9f3ab9dd013cb8a98afd031908d184f81f1cf6f93f59c5714ef
+size 38446699
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d72e9137b5b1eb863609c69f5a4d7afe17d23d2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76d04bad6c927548d59d28943a85ece7a204e2267c6f417ca9812b8cdb17971
+size 39711022
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c7f0859e74962dfab3d019508969a6a724eb99e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf1cab2a2a24d5da4736163868ff96b6f6d34ddabb22b2d7ada4cab78dedf12
+size 48440796
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e80683c800f9a96eb264d03c2a74941072bc1152
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55210e802f3d9ad04be31e13c7a821699d798361047a4a5998202f9788785972
+size 34394784
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3c3d4aee720a72e9f73a99808e0ad8230325db5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65d2dbe5689610991f94ce6d8eb22a8c2892acaeb440e2ed6aa838878204c36a
+size 36095897
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5550ae29bc83f29edc3f1829ae0c7ec23b34fb2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbec3e4780b250407d8b2580518e5d5b86c9b773b81bb6ffa74c36fe7ed2d32e
+size 57540019
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..057dd4e630f5eabd6118487452536ffff365b240
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3a6ff281c9c5e6440e2a7280fb22a1619f69b0fcf794148502142e63d5e9131
+size 37474641
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f81994094bf17a0f9e549dca5a7675b0a5e348c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:182a49703c47e03cf6cc75b2c93373cc4964d8dc3de20abd76d1e8de640851fd
+size 48989175
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34e43ece88eb678beb460d5313d91e0447f6d345
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9875563a1dd69e2341fa3cab7082e4226b80a8502718649904eeb04355155c5b
+size 38248964
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25b3a9a3674cf75e5aa4c4f9965cdf6fc8958a91
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0da2e85ac5bb437735d0c1bb9abe7f4ca1e91e8f253e37656e3a93661ce0759
+size 42441620
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ebe7f5d9fdec64274c25a0dc8897994bfb9e16b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd78ee8279bab9f63ce50d7efd095757ececad4430c6470871224fb62c474e98
+size 35077998
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcff1c5ad513a9d7b1895fcf89ba57ad041e3fc6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680e5242e5efab6f3d57ed138c1020cd2d4aeee67c2b6621a6bb3e9d4d9edb3b
+size 36232184
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..121d9af17a69ffee76e49c866b3d4dac28e8c24d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2cb92962812642df9cbc8e8fab47e0f297af8cacd17b48933b093f6406ce499
+size 46062501
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca2d8d26160bb871cf055b49ed979d80d0f059ec
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb76cbb694a60224069b05e8b56334ad309e62f62683cfe8875d51c15e6054e9
+size 40114199
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbe552c231216110623efc3633563b8c712bb07d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99edf386c6ce15419741a286bf7b2fdd6d7157bf1c97aba08d645013da5e84ad
+size 32774225
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fa309775e57d69cad894bf38a36668528ecb4d0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4eae5d30276a6b54650edfa1da49a140360de1f14f7510453d924874646a924
+size 37524384
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be8e1c98d719a26a214153405978dcd61a071dc6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25dd2dae2d3d99aef5196344e47031aa042841fcbc3a8f0c5cc3add926b5ea53
+size 34624706
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6f80881cec38d9120a8e3e626fd86fd99580073
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de0eb9cdfcf7495487f90f916497db72ee359fbcdb7d49db1cafef3fb4b87e0e
+size 37625157
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47a0b5affb74f203cac5254611a271a8b621cfa5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47ddc9e005d1774d412ada258a0ac7a754507fb9259d96d84d6354dc14b7aa58
+size 42495114
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf0cd8e614abaa5175580540e1a915daf908a44c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947b4f132e3ff91dea37d71e547ec68a925779bd44ff7d4d0a074ec02c506122
+size 37312711
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bb7841739ef021330a4e20d10ef629c096324afa
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2452c7b46bfab0cfe1ddad81c58245eebbe34fa78902b4f1f5a12b005e1c354d
+size 41916983
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3a7945e22b65968b938ab2e9b03c319f6824e79
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb70a187d15c050d0fbcbb6a7187eff7d5e0c15495b31f0374c9111eb5daf0bd
+size 40638968
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e84975d9e06e99b47ba3375865087f87f2dc472
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399beba27d681d57817975fb2eee8ae3c63998d224996d70c8f28e5f8ad30137
+size 35070766
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8f3b60a06a2f79743f608f72bd5057a280ebd55
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a3378ba4d4ab950d9dc10b8664200d745f1b711c953e9a0717449019a76170
+size 41801301
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25743537dd889c5bfab1a4c2829f9a5ede556335
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a9897d930a9e3c405c9c10170c3e6d23d55bee77e2a5172d0a7d036339a4772
+size 49341888
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..021a7a7aeaf944cf7f3aa9d50409268c3535056c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b4cb55fb5bfda95101582f4c51b7e4e24c13aaf17fb1e692b4505c4511b7aed
+size 58027169
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..094022b847841695a48b16d720421befdbb2272a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2521e3f31ebc9c525cac1acb434fe6a928750a80c841f25aadf6bea035bfa5
+size 44373467
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bea5ce9ac0c420d8a0864764c52f6cf79846ba6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ce5401d587303e124367f1746e8aeb4c5538032fc914dd27bdcee78ea81f76
+size 49854306
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f60f3f5c01d3465d2a7527b4f07887042dae53f2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ef8258acaa83df7f786208d9fd9d3936a04adcb33a32fd9dc6c896596a72e03
+size 45641600
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b78ed3cf07c2537b4defb806765bbf07c8ea640
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa97f94ab20493d9d49a4805bb68c11d7f5e0f17832ea8050650eddeb122283
+size 42917306
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..458e7cc87988e1ecd2f13aa9f35803866aa1463f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba6bdbc4096815c4c36e01186ed0697c9baae36dd0c5e9c4f67b7bf888cd927f
+size 46103280
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fbfd86315508ff7575b4ce311246419754bdcaf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d81310a4e5845e690cc47e2e5bb572ae281eeb6e6371f1141b44e75c96c73e2
+size 39186034
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fa7833abff25401c8dd81bcb70e1c1cd7627b6c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003a7c63554421a97391c940d5e536ca09a3291c00c2f3b7245f720d4ec63d66
+size 45899026
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07af558ee77b063558a999c29ff8e60bf3d2840c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd8184d3a529bd673a343403aa0999b8e01e9cb09e15468e33e20d87b36e136
+size 45090249
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82589f9dea1b1f1b5a00e66fc846e0afba1cc114
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd19d2c5e36b4f22f417b4453b9c03c1c31cc71ec1a523a3ba184675bba1df3
+size 39085095
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed0e3e50604322096827ff1fd79d5ad93c4ae313
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf7a34e79fe897cffbe27b4129bca8571a8d41ef97ab16408f8f86031456fe3a
+size 41468010
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b05db902ab6a5c3037bb4b7301f7cc5aa77e731
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ed8bed876bf9dcd2a5214d17f92544c449b0a3959c904814e325afa3173688
+size 42217465
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2680b88a718df13f20811b51580537604c53541a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a62869725a993dbe99c7e8117daa2c5060183089826c7877fba2faa1febd1ebb
+size 51368418
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..211c8042a344f4c75b30080e12321d16e1d31344
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf26c6d54bbca8f995a7b66db3ce6352197498dcebfbb97aab4d4679c16820bf
+size 36287153
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4fad2415097f03476c54c46eeb25c98f0a9e731e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9252b89f309c012739846efb0e0f96d4f088db0094fed69066ac66ba2bc9303b
+size 38644828
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b3a103c3b533e7d31e927ad2b9c2ab7a1639111
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa713adc9fe25ba21990fe1cd0ae35b1d884fdf9cfeb76031429cd8b28b6799
+size 58100614
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a0fad4bf419dfa49b20fd0bd00fdaec24f0fbbd
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86a8c387ce4126d168e0f0d26a576220105bbff55dadb9c8a035aa8034ae10c5
+size 38543960
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe2ca89c210fe71305f4c9cbcd91add13eea697e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb01bf3b87a0ef4135d2e917b9e5d8d4f60a6b10be04d7c1a4ced489a75d9075
+size 51812364
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bd37d89249b1d6d6a8b4a6a5cac2cf2912d61e3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c60023e5e554504ded79874e959c51da470b2cdc42126197d561320d58b6d6
+size 40421469
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9daf64da1435e1d58f3cb04384d951ac32e3279c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ea579a349995cfdb7ef18bd28e45913ec5508b35d6e123ce20e76c15bf5adf
+size 43878714
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6aff3b5bfe1ad0bcc3cc14e933a39d082437ed7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fb8746a4ac3a46c9e100f684ae59022d8eae96771390a63553b82216bf12c43
+size 35909913
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4bfc6aba0cb584b3298898e64606e3fb727fd99b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd5479515ec8238e7e033aec52bfde3b4e4d8a0b2d412ee72adb34975f99c30
+size 36475191
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5907560b772d1a104a4613a98b6fd4891ee8513
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b26b2eb3f782b157e42d87125e6149f92e443428a3ce0042035c676b4fb7fc
+size 49565291
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c705e8d5817ecaf1fe2f21e5e1c2f92d2e66d0e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d98f69469b2fde321ada0e4a3e085667120207a6e4126be5f43698266fba58f
+size 42461178
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a5c0c3c5d6c72ab2362e593de309a531fa98c4b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f1e632e085a0d20682ed49eadaaff03661e3227b1e223df2cd3f77e79af32f
+size 34357704
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..125ad169ebaa7ca198dc07dd1cfc87b5dce1bccf
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09aec9ac7b559d5a901e9062b9d976e4a6179093fc597b839236a29bded94721
+size 40085351
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..285d356ec56b6520b0102ad002375d4a268763dc
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512eb30dd3b1248b80ecec7fbac14d25d83f4cf4b66a7c9f211b770c03b0f0e4
+size 36477426
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c5a67de4b5180cd459241ef214536a194b2b0f2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe1863be8854d266a5dc25ad975886cd7a8c65b1f01016ef955f4837d7bd487
+size 39666855
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66dddaaa803cc2a183fd1024577a981832e4705b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b8fda2a209da8861a80e2d8dd08d58230166c2383eae41ef586e87275a6192c
+size 43575861
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..867f8579c51069e0b0089201f55e16530911bdbb
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41253c2d0d031be3b52a62f732b38030c70a6459c52fc3854d42834e5b001fcb
+size 38429579
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5d8768262e32f1f45ca0df1de80012f525fa2da
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc7264feb8cb7e6fd5a0ae489cb2d97bef0f1784f6380b44255704bedf5933e6
+size 44138361
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0b43f39395fe8bec9484e51d6d400b864ed4d9c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c22586980aa712f0047db9574900bd292e51a81e1a918bfeb65d6c42457670fd
+size 42776339
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03e58cd1a893b6cc8e3d50bf13f760c2e3a3196e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a5c6568b39afc946971cdab9097759d764c3b3403be0f9ab37d4e52a8fddaf
+size 35826093
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfbbe5f93748616ce8b1d7329265ee0eae346821
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14e9cd92fe31c3c6d19213c429787d3df08d662a66bbc9e3a99de92a974f606b
+size 45193076
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..48e70d9a9f90955e7e125313dbdd1faa6a106ae6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5fb6845c7ed94325227c900d614d156d7d183ad90cebd40d857bd1f78c7501
+size 104121176
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-001.parquet b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..52dcabf336aadd049a378c25c066b4cf04f52f84
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/data/chunk-000/file-001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb28b6ba25b3d7f1e37d3f7ea81f30e37d20cc9236e54a10c875f1f0dbe0ad95
+size 3094010
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotation_cache.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6aeaca458b8760c1a1105bffaf956b55ea0bdb5a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,35 @@
+{"source_uid": "10b94b8542724f2a", "num_frames": 2544, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "adc34af3-e3d4-4fd0-9324-c63cfebe85e5"}, {"label": "valid", "start_step": 0, "end_step": 2515, "id": "_VGSNHjBjUlBEhY3KGJnJ"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 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: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 137, "end_step": 349, "id": "ac770945-e8c0-4835-8720-be3a0f83d980"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 350, "end_step": 435, "id": "884cbb03-589f-4853-bb9e-5f2c59bc5b12"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 436, "end_step": 571, "id": "31dde9f3-6eef-4157-9061-ebb41a26dcd4"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 572, "end_step": 666, "id": "360105ac-9d89-4e2a-b0e1-57e26cbf6814"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 667, "end_step": 842, "id": "26ab1673-cf70-4ca3-8859-34db15c98462"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "goal", "start_step": 843, "end_step": 1090, "id": "6b844e05-deb9-46ca-8342-5f5cd12b5bda"}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1091, "end_step": 1219, "id": "d6399cc7-778d-446c-bef9-091388a06f4b"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1220, "end_step": 1293, "id": "7bb1b9f6-660b-40f2-b10c-71c869824c93"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "goal", "start_step": 1294, "end_step": 1452, "id": "cc688aac-c0e8-45e8-85d0-9108f2db0370"}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1453, "end_step": 1527, "id": "62e2fb39-faae-4642-bb6b-04c7f7cdbf70"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1528, "end_step": 1671, "id": "b6dad6db-fd52-4270-84d7-e2c43c50623d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "goal", "start_step": 1672, "end_step": 1756, "id": "b0ab7323-754f-4ed6-a6eb-3bf81560df72"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "goal", "start_step": 1757, "end_step": 1886, "id": "bf30c65b-64db-4cfe-bb35-a83d544e5d1f"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "goal", "start_step": 1887, "end_step": 1977, "id": "63df7e6c-f32e-448a-871f-d040b5133488"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1978, "end_step": 2224, "id": "48b18501-e5a8-497a-a37b-eacf8b406315"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "goal", "start_step": 2225, "end_step": 2297, "id": "66921c71-f74e-4fa3-8664-fc60d90eec4d"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "goal", "start_step": 2298, "end_step": 2466, "id": "a4304520-0d21-4378-966e-536bf06f2ab1"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "9-VZ41MTJdfPESzfuUKWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 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: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}], "episode_index": 0}
+{"source_uid": "ded4c6296fd67704", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 178, "id": "66a7417c-e105-4b60-876d-715a94409981"}, {"label": "valid", "start_step": 0, "end_step": 2927, "id": "QKo1F1UebcJm1u8OcsLbI"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "goal", "start_step": 179, "end_step": 473, "id": "b9ffe74d-6807-4fec-9148-8933bfc53c47"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 474, "end_step": 618, "id": "ab6cdf46-23f4-4b4b-a501-7171405d8a60"}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 619, "end_step": 761, "id": "9e31bf5e-e0a9-4e61-8b45-d845e11efbc2"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 762, "end_step": 850, "id": "0ff8712e-77dd-4b0c-b1a4-6d2728f94a2e"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 851, "end_step": 1052, "id": "729b66ef-cbc0-4fe6-8d57-c25e98eaa872"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1053, "end_step": 1134, "id": "64062945-1bca-4f55-a96e-0e8e416e1072"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "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 white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1269, "id": "af781703-feba-4732-9f66-7a1bf7c46c7f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1270, "end_step": 1352, "id": "5b1089aa-e740-4a04-af1d-62f97fe296a5"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1353, "end_step": 1462, "id": "e6e5cb82-2536-401c-b9bf-701f042d74e2"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1537, "id": "8a0079d2-b83d-4d86-b4fb-5d4e0d76d0b9"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1538, "end_step": 2163, "id": "38fcc919-7346-44a0-9233-224e724f11b7"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2164, "end_step": 2240, "id": "438276bd-422a-4c41-8e2d-e0d9ee95bc4c"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "9f5c6512-fdff-4860-bbd6-e0dbd716db88"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 2421, "end_step": 2486, "id": "a0c2c040-d7d5-4e46-96fb-3bcd0bd334c9"}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2487, "end_step": 2644, "id": "e9be358d-638c-489d-92a1-92b9616141ee"}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "goal", "start_step": 2645, "end_step": 2733, "id": "13b36e15-ba36-464b-9641-a0858cbeb2d7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2734, "end_step": 2891, "id": "1867f183-f5c5-4a67-88b6-ce24994e316e"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}, {"label": "home", "start_step": 2928, "end_step": 2955, "id": "MzYogtalYlJcRkeo36Ird"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "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 white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}], "episode_index": 1}
+{"source_uid": "cca582039532b8d6", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 151, "id": "acdb5e5b-a9f7-4436-8a95-bdfa2d7bc6fd"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "Ihe57_rLJ6K9jZYMOOOhJ"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 152, "end_step": 320, "id": "e4ba8c2f-17c0-41c6-b176-91cb0e2630c4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "goal", "start_step": 321, "end_step": 401, "id": "9555ac72-3eac-4d10-bb5f-21c0bc6470bb"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "goal", "start_step": 402, "end_step": 565, "id": "989c881c-f185-4fc9-928d-b6bcc3269b0f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "goal", "start_step": 566, "end_step": 664, "id": "da9106af-b49e-4a07-80ff-a45d72692933"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 665, "end_step": 907, "id": "2adcd9a2-90b5-48d5-a871-3ca7dec3eea8"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "goal", "start_step": 908, "end_step": 983, "id": "2956bfd9-bfb6-44de-b53b-b378b85af6da"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "goal", "start_step": 984, "end_step": 1130, "id": "8267c26b-2f36-48f2-adc7-8edb310775c4"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1131, "end_step": 1201, "id": "9d404b37-c142-4fad-9cc9-1c1066123f44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1202, "end_step": 1375, "id": "014b1403-ccd6-4618-a1ad-2edc03b2278d"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "goal", "start_step": 1376, "end_step": 1445, "id": "6d679667-53eb-43c4-8ca8-ef04e45d2315"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 1446, "end_step": 1602, "id": "7a1dea3d-1785-4915-8277-cdbe9ee834f2"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "goal", "start_step": 1603, "end_step": 1671, "id": "7844121b-ee41-43af-b111-f7a421bbdeff"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "goal", "start_step": 1672, "end_step": 1778, "id": "581759fe-9dbe-4838-aa01-35a386519a28"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1779, "end_step": 1845, "id": "6261953a-9b54-4d6f-8bda-184f0a94ae30"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "goal", "start_step": 1846, "end_step": 1996, "id": "9ff14d8b-716a-4bf8-b16c-296a4c6ca92f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "goal", "start_step": 1997, "end_step": 2062, "id": "0b574d7f-39a0-49ae-9a16-f757f1093708"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "goal", "start_step": 2063, "end_step": 2202, "id": "72256426-59d2-40e9-b481-7b153db510a4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}, {"label": "home", "start_step": 2236, "end_step": 2265, "id": "3nhe3XnA_bnSMOK4FnXAz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}], "episode_index": 2}
+{"source_uid": "ea6170b4e69a72e1", "num_frames": 2552, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "920e1521-92d4-4193-b165-ecb4599a8603"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "Szj0y_m_5bOEE971vf2PI"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 295, "id": "dc764853-8e82-4e7c-968f-e4e6d51c03f0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "goal", "start_step": 296, "end_step": 415, "id": "4867bc5d-cd55-4347-9228-dd1442aec95a"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 587, "id": "b85968bd-8ed5-4745-b987-9d15ad603385"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 588, "end_step": 669, "id": "9d4e044e-52e9-4877-bfd8-5c10a6e1fd57"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 670, "end_step": 839, "id": "668b2521-9ed2-4d33-9c61-5f0b8942a5ea"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 840, "end_step": 922, "id": "d8017aed-aca7-4837-9d95-b9b4901074d3"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1153, "id": "7ec5d23c-ac78-4705-a2f2-8dfe5ccbd8c8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "goal", "start_step": 1154, "end_step": 1237, "id": "475a0f3b-e6f3-4c48-94ae-dc029c199b1b"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "goal", "start_step": 1238, "end_step": 1359, "id": "057fea47-33a8-498f-90e1-b4b7553d6cab"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1360, "end_step": 1444, "id": "d547638e-9d1b-45cc-af00-d94b8a02ebb5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1445, "end_step": 1604, "id": "1bbc3b44-e972-430f-9a83-bf2369db961e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "goal", "start_step": 1605, "end_step": 1679, "id": "290060f9-be34-4227-b204-23dceaa755be"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1680, "end_step": 1829, "id": "edc32e3c-1111-4e80-b318-4760ff8c6478"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1830, "end_step": 1900, "id": "3226dcff-ff34-4211-9756-45c49ef58c9b"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2026, "id": "76551511-062e-430d-a5b2-ba1914f91733"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "goal", "start_step": 2027, "end_step": 2090, "id": "2e73f6d9-007c-4062-80bf-655d3f15d141"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2454, "id": "cf87f5ca-4e29-4b37-9342-cd22a5894659"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}, {"label": "home", "start_step": 2531, "end_step": 2551, "id": "HWxg7o5dGkXWmH_GwKJae"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}], "episode_index": 3}
+{"source_uid": "70c84f057faea2da", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "09520fb5-501d-4902-8658-1ec1fca1d8a1"}, {"label": "valid", "start_step": 0, "end_step": 2265, "id": "wZt9RFAhbY6umf_ffLoEj"}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 119, "end_step": 248, "id": "7874ce7a-f9a9-4ae5-b44c-925807b8064f"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"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 operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 249, "end_step": 339, "id": "de0de7bc-5fc3-490d-a592-87a8b441e328"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 462, "id": "8824e510-f19e-408e-b362-d788a63f3e54"}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 562, "id": "99c4ef34-c65c-41b2-ab3c-e12f475ff04e"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 563, "end_step": 792, "id": "6ea8af2b-fb3f-4544-9dcb-00c54aa9ceec"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "goal", "start_step": 793, "end_step": 872, "id": "f488327a-4491-4522-9d07-e472cb471242"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "goal", "start_step": 873, "end_step": 1018, "id": "14ada7ed-dda9-413f-9aa8-bc39669631ae"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1094, "id": "a76c3b7f-1113-469a-a5b1-37e9b525d2f2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "goal", "start_step": 1095, "end_step": 1206, "id": "20a993aa-6ddc-4bf8-9ea5-a85dfb5e5c2c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1286, "id": "b6df6942-4341-4595-8d9e-14543ccc725c"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1287, "end_step": 1438, "id": "aaa5fd58-5651-4710-85f2-ea77aa935a01"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1439, "end_step": 1513, "id": "b6482b56-98c5-4419-a996-82c839b31217"}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1514, "end_step": 1616, "id": "27a5d9a3-8be9-489b-a9a9-f0c681e4229b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1617, "end_step": 1675, "id": "beceb354-f7a4-409b-90a9-1a933a1f0076"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "goal", "start_step": 1676, "end_step": 1805, "id": "38844713-a76e-490b-8690-d1ab766963c5"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1879, "id": "b1a3a3bf-9db9-48b3-865f-b5bc9bb33126"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1880, "end_step": 2207, "id": "8b378863-c650-4b42-be50-89508bf6afac"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}, {"label": "home", "start_step": 2266, "end_step": 2292, "id": "HXY6fE0i_AE35sL-PGATt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"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 operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}], "episode_index": 4}
+{"source_uid": "d60d15050a4f8004", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "bfe69d1b-7fd8-47c7-84e5-562ae9d6adf9"}, {"label": "valid", "start_step": 0, "end_step": 2157, "id": "Y26pOArayM3BxMn8JWwns"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "goal", "start_step": 161, "end_step": 312, "id": "505a8258-59f2-4f8f-a2d4-6d87f9ad5fa2"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "goal", "start_step": 313, "end_step": 400, "id": "221b6c43-cc97-459d-92b2-4680990072a3"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "goal", "start_step": 401, "end_step": 534, "id": "4fbe6009-b481-4aa2-8997-d84fe55f1703"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "goal", "start_step": 535, "end_step": 604, "id": "81134f36-198e-45d7-9ba4-8201dbf5fa1f"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "goal", "start_step": 605, "end_step": 808, "id": "eb7cda13-a8c9-46aa-86df-a9a1455bd497"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "goal", "start_step": 809, "end_step": 878, "id": "ba3085a5-7920-47d9-8caa-40e47ca1e872"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "goal", "start_step": 879, "end_step": 1030, "id": "638b90a2-b917-4494-8c77-b57a1d27812f"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "goal", "start_step": 1031, "end_step": 1100, "id": "21d525a1-ef80-4af2-9e94-4af149cff699"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "goal", "start_step": 1101, "end_step": 1246, "id": "83c6b094-d9e4-4fd2-a3a3-3dd5db596fb0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1247, "end_step": 1322, "id": "b1ac3748-bf34-4c98-8c24-31464394e079"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 1323, "end_step": 1444, "id": "39343787-7d9a-47f8-a6d4-02a94bad9b9f"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "goal", "start_step": 1445, "end_step": 1516, "id": "cd245fd9-094c-4ce0-a8cd-243ea90d3416"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1517, "end_step": 1704, "id": "4b870bc4-a760-4022-b77b-0485c401bf08"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "goal", "start_step": 1705, "end_step": 1780, "id": "6e2c681c-ece1-4367-8f94-370514b104d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "goal", "start_step": 1781, "end_step": 1898, "id": "3f29ed66-7a79-48fd-beb8-c6dcbc9c8ede"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "goal", "start_step": 1899, "end_step": 1960, "id": "ba348628-b710-45a6-9319-03215e4736cb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "66ce808b-8c53-45e1-9c5b-b8d0abf23978"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}, {"label": "home", "start_step": 2158, "end_step": 2181, "id": "am4LSp0ecn2K-xnVg3yAy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}], "episode_index": 5}
+{"source_uid": "068bddb7415693d6", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 188, "id": "c972918c-b56f-444f-bb76-90927e8c893a"}, {"label": "valid", "start_step": 0, "end_step": 2274, "id": "1vkPg-rbJE4TPHaQd84Kt"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 189, "end_step": 436, "id": "e0b07416-6ce2-44ab-8281-192e5ae769d6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 437, "end_step": 512, "id": "4b0e4a64-3127-44af-8f13-45aeace3975d"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 513, "end_step": 668, "id": "9e61d80a-ea2c-42a5-bfca-bf806c6390e9"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 669, "end_step": 752, "id": "fb04f035-8620-41bc-afc3-179312fd9f65"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 878, "id": "d3592c79-3177-4352-8a79-5cd93b15e790"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 879, "end_step": 978, "id": "f0671562-2ae8-4a3b-9347-21c4b7c4c0b8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 979, "end_step": 1080, "id": "cc4264e1-2f35-4c51-96c2-5a02bb4cbcbf"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "goal", "start_step": 1081, "end_step": 1148, "id": "7c7e7336-6765-42c8-9489-7c5dfe1ad665"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1296, "id": "98db18f8-738f-4223-8624-84d59f6f417c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1370, "id": "84345069-c20c-4a9a-b06f-15055e08efcb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "9a242000-272f-4632-89a8-e6343f1f025d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1515, "end_step": 1590, "id": "3edf5ec3-4c76-4370-b146-cd4ef871b9bc"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1718, "id": "53e0d0b6-f948-445f-8abc-474f9bcbe5d0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1719, "end_step": 1780, "id": "876c6dc0-77b7-4ddb-9a0b-a09aa77d4c9e"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 1781, "end_step": 1900, "id": "2f2cbf87-645c-466f-bf2c-a9ab2eec7377"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "goal", "start_step": 1901, "end_step": 2040, "id": "553cfae8-ad9d-40ae-967c-da6f93ca892e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2041, "end_step": 2210, "id": "0a9cb143-271c-438b-b341-c09cac147c16"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2275, "end_step": 2302, "id": "ag9amdiQ1J8Rw1dWdKW9e"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}], "episode_index": 6}
+{"source_uid": "f3e90839fcc4cae2", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "87d5c9a3-df8b-49e2-8e04-377a94957ba1"}, {"label": "valid", "start_step": 0, "end_step": 1936, "id": "Klxcn-adG5v-kB_c_hNTH"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 113, "end_step": 230, "id": "d69c9178-35e2-456f-8bc6-e16cf6fdc552"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "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: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 231, "end_step": 282, "id": "470e4a19-0cf1-4d96-a4d5-116d57b3409a"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 283, "end_step": 380, "id": "d9c50ff7-f7d1-4284-b821-fa2dafe7f2db"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "goal", "start_step": 381, "end_step": 448, "id": "d333eeb4-0384-4f9c-ae1c-308bf3272832"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "7da90fb0-1159-4b53-8173-f72816391b27"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 662, "id": "6692e499-9b72-4fc2-b41d-1c08b8d9d002"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 663, "end_step": 798, "id": "bd52ca5c-e29b-4d84-b175-6fc913ab900a"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 799, "end_step": 864, "id": "2e8d5005-8783-486c-8300-02983355dcdc"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 865, "end_step": 986, "id": "8addf7f0-11a7-4d30-9d7e-0f3932a4cd22"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "goal", "start_step": 987, "end_step": 1048, "id": "c731881c-858a-4704-9303-2c4b4824e53f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1049, "end_step": 1382, "id": "d949428f-8bf4-4d7d-ba80-92f955815a5a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1383, "end_step": 1418, "id": "47fc9e65-0db7-44e4-8fcb-ff191ee6bf8c"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1419, "end_step": 1532, "id": "bc0e3994-2f71-4535-83a2-a38b98e657e4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1533, "end_step": 1602, "id": "6f17a78d-c149-4128-acc8-c5c90e75eb43"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1732, "id": "63b7fff1-cd08-426a-8720-a202eb49371a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 1733, "end_step": 1788, "id": "c68f7525-980d-4aca-a47f-13c85c8b8cb8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1906, "id": "d404e2d3-bc38-4b18-971d-615173a746ee"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}, {"label": "home", "start_step": 1937, "end_step": 1968, "id": "X5Q692MRPZMfbVW1YYxiv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "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: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}], "episode_index": 7}
+{"source_uid": "678d982095042918", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "6064e66d-9e8a-4ec5-8e48-344fdb5d36ff"}, {"label": "valid", "start_step": 0, "end_step": 2264, "id": "TiG_KerQb4MqOeyP8iyUf"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "e01f71c2-087f-42a9-afb6-eb4b8a3faa33"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "goal", "start_step": 235, "end_step": 304, "id": "01be88c4-4c0d-46b0-8f00-833104b09017"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 305, "end_step": 424, "id": "a97e1277-007b-42aa-97e8-f09f7c9ada8c"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "goal", "start_step": 425, "end_step": 592, "id": "827d90bb-c3c2-481c-b3c6-2a5643c3c783"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "goal", "start_step": 593, "end_step": 736, "id": "cf02d804-56b3-4e5a-aa98-91fe8132c581"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "goal", "start_step": 737, "end_step": 792, "id": "d887fe0b-a412-48d1-a049-00c1c288191e"}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "goal", "start_step": 793, "end_step": 1222, "id": "15d2ec0b-be71-4281-a045-84b3852c29fb"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "goal", "start_step": 1223, "end_step": 1284, "id": "50195215-2932-4c1c-8ea7-436375578e49"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1414, "id": "de298a53-164f-4cc7-84f8-f9f6c309378d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "goal", "start_step": 1415, "end_step": 1540, "id": "c7a12d12-d867-4287-923c-85274c2929a0"}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "goal", "start_step": 1541, "end_step": 1680, "id": "ea5fa4ba-b22e-44c6-8ab8-97b3bc682f87"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1681, "end_step": 1750, "id": "30f8b718-798b-4920-ab14-85571562e226"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1864, "id": "9f5bee45-11fd-469d-9088-290ffa6c271d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "goal", "start_step": 1865, "end_step": 1922, "id": "ee79a589-c1ad-473c-83ec-adde95fa4f9d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "goal", "start_step": 1923, "end_step": 2050, "id": "8323e24d-9081-4aaa-af21-2bee074cbd3c"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "goal", "start_step": 2051, "end_step": 2114, "id": "e4e7f4cc-86a3-445b-93ba-6d36b3f32bf1"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "goal", "start_step": 2115, "end_step": 2230, "id": "1c1f9e89-b8ca-48b3-ab8b-58d5ebc01748"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}, {"label": "home", "start_step": 2265, "end_step": 2292, "id": "5ut8_PAL3TUu9rhVzqnTg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}], "episode_index": 8}
+{"source_uid": "902bc458c9698a87", "num_frames": 2235, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "be1e0720-0d12-4206-9716-3e7168fc15e0"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "mF5AJL1oT9MtVzY4WTGV5"}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "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 green block from the black table surface."}, {"label": "goal", "start_step": 113, "end_step": 240, "id": "e69fc536-ad0a-4d30-81a3-13e13d9c4586"}, {"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 green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 376, "id": "58600485-3676-44f2-9a3e-8c64bc73b80f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "goal", "start_step": 377, "end_step": 534, "id": "3205ef15-ced4-4d91-9590-c1e1b0a99e3d"}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 535, "end_step": 600, "id": "0b4ccbe2-9369-4c6f-b069-90189b0e07cf"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 601, "end_step": 772, "id": "73afbe5d-4c5d-4be5-9aa7-50e284bfaa6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "1bb166d0-880e-48c5-8dc6-44710a6b9856"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 859, "end_step": 976, "id": "119165fd-188b-454f-823a-01ec8256fb46"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "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: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "goal", "start_step": 977, "end_step": 1044, "id": "49302668-30cb-4038-9b3c-fd43e85c5bb9"}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "d9fb85b8-49ed-4ed1-9d49-c3d038a37385"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1264, "id": "84a5c189-c9d4-4ee4-bf3e-7202f52aace4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "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 fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1388, "id": "3a8d58e4-365c-49bd-9f99-30c45cd3335c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "goal", "start_step": 1389, "end_step": 1468, "id": "1c6d7d60-9189-4933-9476-b42e6d94b021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1469, "end_step": 1746, "id": "842af184-8452-4c42-b184-348b88d92cf8"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "goal", "start_step": 1747, "end_step": 1816, "id": "ffe41342-3b20-4d4f-80fe-762611fe1f0b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1817, "end_step": 1942, "id": "e83f3815-6bfc-4745-a579-ad799e7e4790"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1943, "end_step": 2012, "id": "f97ee7bd-e5dd-4833-96c5-319e75669f9f"}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 2013, "end_step": 2162, "id": "cba7599b-396a-4b20-b78f-5708fb1d0536"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}, {"label": "home", "start_step": 2206, "end_step": 2234, "id": "0DPdNjQGhfYp69EoU9tbO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "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 green block from 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 green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "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: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "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 fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}], "episode_index": 9}
+{"source_uid": "8f7d577021d739a4", "num_frames": 1942, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "98640772-d61e-47d7-a12e-4c6729c56df7"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "ahzoMCuXUxM2gjFo1rKrS"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 135, "end_step": 258, "id": "ef6b1e69-0f93-481d-8dfa-1e919a98b0b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 259, "end_step": 324, "id": "5b12b8ca-2136-462f-bb01-1ce78852a350"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 325, "end_step": 464, "id": "8c7e08a7-4d07-4998-abb6-92e19491dfec"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 465, "end_step": 528, "id": "5803c679-6c81-4018-9f95-25d8f7747bc2"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 529, "end_step": 646, "id": "255d0815-ccf4-4bbc-ac6a-1c71ce6ed2d5"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "goal", "start_step": 647, "end_step": 738, "id": "b06b0e87-01f4-4c43-8345-5516976cb227"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 739, "end_step": 902, "id": "a584861e-99dd-4134-a33a-f8e53e5e511c"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "90ab0fc4-688c-4d62-bc6d-454298a05df1"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 975, "end_step": 1086, "id": "3c56eb2a-52f7-4e68-a8b8-9ac5a536916c"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "goal", "start_step": 1087, "end_step": 1144, "id": "bac77999-4eea-4bdf-8bf5-650d2ce82e44"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1145, "end_step": 1282, "id": "28ccf642-537b-4c3e-b08e-68a5e4945e1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1283, "end_step": 1366, "id": "89316112-d266-462b-9039-dda050ee6cf6"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "goal", "start_step": 1367, "end_step": 1470, "id": "95cbf710-8fd6-4956-9b39-2ec4dc215beb"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "goal", "start_step": 1471, "end_step": 1556, "id": "1cb91cd7-1506-466c-87f0-024466375876"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1557, "end_step": 1690, "id": "2bab7432-d050-49c3-9187-7b8df1207fc6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1691, "end_step": 1770, "id": "df63d338-afd8-4394-820f-d8787c585667"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1874, "id": "52236148-8d91-4ef1-b78d-5b46092bb998"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 1917, "end_step": 1941, "id": "8MxUwwO1eO34NC4rXK0G1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "eefd9323d36fc84e", "num_frames": 2070, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "18a5ddee-3d6b-4af5-82c7-1acdf001edda"}, {"label": "valid", "start_step": 0, "end_step": 2034, "id": "wVGzijfBhmc9qgI4RlRPW"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "goal", "start_step": 109, "end_step": 272, "id": "e2704f44-f690-4b68-9300-bd213e6fb024"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "goal", "start_step": 273, "end_step": 328, "id": "8e901b33-be46-45db-894f-b0077ebe1e66"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 496, "id": "eed91713-d3a0-4dda-a0c1-3d3e0cb71c4f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 497, "end_step": 558, "id": "c5f5a4f1-d0f3-4509-91c9-b5547a33086a"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 559, "end_step": 696, "id": "f5a69d8d-a0f0-44a8-a95e-846d61cba43f"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 697, "end_step": 762, "id": "57ca6401-40f0-4b64-b794-6553d76bbfb6"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 886, "id": "8e323531-3a2c-4a4e-92b0-ab3f142d209f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 887, "end_step": 938, "id": "0e06391d-bbe2-437e-bc85-f9942f63393c"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 939, "end_step": 1052, "id": "d6402ef0-8590-4101-9a2a-2c3c038aa28b"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "goal", "start_step": 1053, "end_step": 1194, "id": "becb67f6-a1cd-4717-8fc2-4b3f0e302f98"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1195, "end_step": 1338, "id": "5eeda75c-3267-462f-a36b-702440a3a414"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "goal", "start_step": 1339, "end_step": 1408, "id": "ef377df3-b942-40b7-94b5-b22f0e39bf85"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 1409, "end_step": 1546, "id": "e7fd5ca7-1eea-4406-8932-1bce0bb7365d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 1547, "end_step": 1602, "id": "928ce6cb-6642-4f3f-aeb6-10938bf0a273"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "goal", "start_step": 1603, "end_step": 1748, "id": "2c36e989-3b2a-4b9a-8673-5cee8c33e8f4"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "goal", "start_step": 1749, "end_step": 1802, "id": "7c72f87a-a167-4ed2-b842-d8ddadc457bf"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 1803, "end_step": 2002, "id": "feb08c7b-ae34-478b-a897-f7ee85f93330"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}, {"label": "home", "start_step": 2035, "end_step": 2069, "id": "LZHduQ2l47e6_qPHCwW3a"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}], "episode_index": 11}
+{"source_uid": "a99e81f59b798961", "num_frames": 2101, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "c4d32597-3b6a-4808-8c92-68a8a49853b5"}, {"label": "valid", "start_step": 0, "end_step": 2075, "id": "I6lSL14v3W7OCT61C1PFx"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "goal", "start_step": 117, "end_step": 234, "id": "38ecd9b5-393b-4a84-981d-53689796ff63"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 235, "end_step": 380, "id": "c925e375-735a-4600-9472-866cc11586a6"}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 502, "id": "d985cdfd-4591-4584-885d-c4c066c5bed7"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "goal", "start_step": 503, "end_step": 589, "id": "8091bcaa-e9c6-4d01-b771-ce1f32d47482"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 590, "end_step": 731, "id": "db52ca9d-6039-45b6-8ff2-6208c5bfe3c0"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "goal", "start_step": 732, "end_step": 810, "id": "dfb14392-dd81-43db-9529-264bb04a3c97"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "goal", "start_step": 811, "end_step": 976, "id": "d9c86510-6b22-4943-bfba-30997375c6ac"}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "goal", "start_step": 977, "end_step": 1034, "id": "f1bab238-3443-4229-b1eb-206ba4881447"}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1035, "end_step": 1144, "id": "46f2c32c-f0bb-4dca-8db7-b759091bf78d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1206, "id": "9a437f7b-16d0-4db0-a331-9fb6f38c2a5e"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "goal", "start_step": 1207, "end_step": 1326, "id": "8113ec26-6f2b-4907-b56b-99873ceed6fb"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 1327, "end_step": 1388, "id": "91f4211c-9bbc-4fc9-82b3-50e362c871cc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1486, "id": "603bf164-518e-4fdb-940e-a88235fea963"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "goal", "start_step": 1487, "end_step": 1556, "id": "c068bd98-7b90-487f-b93d-e20a1e5e79fc"}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1676, "id": "c2f1116d-7254-4eb1-9ee2-e4e6cda08f41"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1677, "end_step": 1786, "id": "6fd96cd2-57d0-461c-97e8-fc4298025d2e"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1998, "id": "ee541ae7-1141-4a57-97e7-ce869130833b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}, {"label": "home", "start_step": 2076, "end_step": 2100, "id": "KKR9woD3nfYd0O3N2S4BW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}], "episode_index": 12}
+{"source_uid": "e17b1c47813f23ec", "num_frames": 2545, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "3418e3d8-add4-49fa-b606-657bd9935764"}, {"label": "valid", "start_step": 0, "end_step": 2514, "id": "OAl50H_ZFGyoN9J8H6gN3"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 153, "end_step": 410, "id": "67f0ec28-d53d-4413-b600-875c8d364db0"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 411, "end_step": 562, "id": "ceb6b665-9035-4b78-abee-7ba7c1442219"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 563, "end_step": 670, "id": "282f7de0-8cd7-4350-96f6-07e1e3588e57"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "goal", "start_step": 671, "end_step": 860, "id": "705b117e-8991-47d9-afcc-a0a3a8b10892"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 861, "end_step": 990, "id": "30cc8dfb-5898-420e-a8e9-4550be32263a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1056, "id": "7b137b6b-06b6-4749-a208-4cf22ee30868"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1190, "id": "b08797aa-802c-4ed1-93f2-1d19fd5c81d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1191, "end_step": 1262, "id": "f9b26589-f925-413f-9f1c-11322bd2c76c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1263, "end_step": 1416, "id": "de8f0382-304c-403e-a03c-60848974a9e9"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1472, "id": "2894e0f8-0d71-4c7a-85d5-d3f04004d619"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1473, "end_step": 1810, "id": "ebee2a3e-12b9-4cc8-98d4-5507dc925fe2"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1928, "id": "5f4edd5c-7997-487d-8b9a-d3372edb174f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2062, "id": "d6734d99-2954-426c-b5b5-21d360ad8924"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "goal", "start_step": 2063, "end_step": 2140, "id": "337c7105-dd6f-49e9-a7f9-15be080f7411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "6e923a09-3ba5-460a-9840-ca4ef704f901"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2251, "end_step": 2322, "id": "862b9c16-256f-409a-8f42-3c088082c6b0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "goal", "start_step": 2323, "end_step": 2478, "id": "f8bfe83b-a109-4e56-ace7-27756f873292"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}, {"label": "home", "start_step": 2515, "end_step": 2544, "id": "3rEPPNpGqre2OZtHAyuvA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}], "episode_index": 13}
+{"source_uid": "c225bf0d2c37c072", "num_frames": 1815, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "f0c855d0-0775-48b3-9db0-eb9a921c8b14"}, {"label": "valid", "start_step": 0, "end_step": 1789, "id": "7Oq6a2sO9OdeRlbcA65lk"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 101, "end_step": 232, "id": "5c4f64f8-bf70-4fae-b27a-03b3e1594cf4"}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "goal", "start_step": 233, "end_step": 288, "id": "0780092e-2166-41f7-a8e0-7bd56475b0fa"}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 289, "end_step": 422, "id": "71a5ddc3-90d8-4094-b4f7-c36514ae31f4"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 423, "end_step": 470, "id": "e60bef70-7abd-4f95-ba3f-1317fcf21211"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "goal", "start_step": 471, "end_step": 604, "id": "6577f6aa-f2f5-4911-a9f7-7a23d838927f"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 605, "end_step": 660, "id": "fcfcde04-b4fa-4181-aaa7-2d888c3c0f6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 661, "end_step": 830, "id": "c8bfc0c5-f97d-4d7e-a9eb-8ecab6118565"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 831, "end_step": 884, "id": "954e32dd-9562-40e7-a2d9-0ef8163f47fd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 885, "end_step": 1026, "id": "8101c582-c6c2-4420-8e70-ed60b535bd82"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1027, "end_step": 1080, "id": "747fe9bf-6a3b-4aa0-a0f3-0ed1c595e68c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1081, "end_step": 1190, "id": "fd07c187-7db0-474c-9c96-079b0f50594f"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "goal", "start_step": 1191, "end_step": 1254, "id": "8a295e32-efe2-400f-ad04-5b911d7cf6db"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1255, "end_step": 1370, "id": "da89d9d2-c84a-4d4b-93d9-fa5fcc2a76b8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "goal", "start_step": 1371, "end_step": 1418, "id": "f78f800c-97a4-48c8-a7b4-4883157f9cba"}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "goal", "start_step": 1419, "end_step": 1522, "id": "b5ab06d5-ba64-4757-af8b-842b25e3e9f0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "goal", "start_step": 1523, "end_step": 1586, "id": "078e03db-f6b9-496b-bfe9-c596141ca168"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1587, "end_step": 1724, "id": "af326aaa-ebce-4e79-98d3-4b647c742266"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}, {"label": "home", "start_step": 1790, "end_step": 1814, "id": "9wN0pf4u-P40m6WcF8UHy"}], "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 operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}], "episode_index": 14}
+{"source_uid": "e4354a1737252aee", "num_frames": 1932, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "bfd0accf-0645-4317-970f-8d7bebdecbd9"}, {"label": "valid", "start_step": 0, "end_step": 1899, "id": "TRq6C9f6HSmuuGgr20gUD"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "c8a98558-456f-4fb7-92fa-f62baa20daa4"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 235, "end_step": 306, "id": "46a6d2b4-8b86-42c3-9cb8-268341d704b3"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "8df3dee5-d6e5-40b2-933a-1b4ad5352862"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "17317d18-3447-4b77-9fe5-61e171460ba5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 539, "end_step": 648, "id": "d72c2910-1234-46a4-af04-6899a676d99d"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 716, "id": "426f82cb-f97f-4987-aa6e-abc2bc98d5c1"}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 717, "end_step": 916, "id": "dfa7a492-fb18-4c38-966e-41937a7f3b18"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "2f015f11-39d9-46ea-990b-fb46c3df4cd8"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 987, "end_step": 1132, "id": "53a0c5f1-b685-42b2-bfb6-2acfda68dfc7"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1133, "end_step": 1184, "id": "bf00d614-4e7d-45c9-b398-2f2d01e46ed7"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1185, "end_step": 1294, "id": "ee545787-ce6e-44e1-b15f-cdb9e7ab32ec"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1295, "end_step": 1354, "id": "ddc49047-e84f-4699-9a52-4158eded5d29"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1355, "end_step": 1484, "id": "75faff01-9b7e-4c82-a14b-a2023324b4e0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1485, "end_step": 1556, "id": "cb84ffb4-4976-4a27-b1b3-9504824538e0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1670, "id": "57ed1b71-c52e-4906-9a5a-29a2e2f03242"}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "goal", "start_step": 1671, "end_step": 1736, "id": "abfc4a57-7a6d-42f0-b4c6-a59657e3a7ae"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "goal", "start_step": 1737, "end_step": 1856, "id": "ee619492-bb19-4767-8c4c-e13017623d32"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}, {"label": "home", "start_step": 1900, "end_step": 1931, "id": "yB0E6iRyIcR-uRrv62F8W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}], "episode_index": 15}
+{"source_uid": "4292adaba504158c", "num_frames": 2963, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "1b039b2e-faca-4503-a13b-46ac0ff71204"}, {"label": "valid", "start_step": 0, "end_step": 2932, "id": "Qgy-zkYScKUtVBUsTqzAU"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "goal", "start_step": 131, "end_step": 282, "id": "6ef4eef4-9eb1-4005-b617-6fdd1ee5ecd0"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "goal", "start_step": 283, "end_step": 364, "id": "1ee6739f-b83e-462b-81aa-8436ef943b72"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "goal", "start_step": 365, "end_step": 504, "id": "db253cc7-e639-4eef-b045-04c89fb0c9d2"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "goal", "start_step": 505, "end_step": 564, "id": "61536499-f80a-42ad-900a-bf3b04f41ac9"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "goal", "start_step": 565, "end_step": 704, "id": "5c4356c5-b509-4672-b2f9-8e8d892b3775"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 1086, "id": "8033057e-b29c-4741-8a98-13d8a1f43bab"}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "goal", "start_step": 1087, "end_step": 1230, "id": "0418c86d-99ed-46d5-9382-10dcb93e4701"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "goal", "start_step": 1231, "end_step": 1294, "id": "fccd1ef9-8b99-4763-b878-44f6cc1a35e3"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1295, "end_step": 1424, "id": "7e80f14c-d98d-4543-acba-33457c235c35"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "goal", "start_step": 1425, "end_step": 1494, "id": "f1f8f5c2-b022-4ebe-b7d0-903d5be1aefb"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "goal", "start_step": 1495, "end_step": 1628, "id": "e43bbd6c-1a07-43c1-b22a-abc5dfbbdf1f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 1629, "end_step": 1702, "id": "bc5b67bd-c695-4a77-8e2b-580af8eb89f7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1703, "end_step": 1866, "id": "03dcf17b-e99a-49bc-8bf6-32a021957304"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "goal", "start_step": 1867, "end_step": 1930, "id": "e9652ccd-62f4-4c06-8e7a-2140e9e7bee6"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2056, "id": "ff05c3ab-f66c-450c-b44d-d351599087ea"}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "goal", "start_step": 2057, "end_step": 2114, "id": "6005ed19-03d7-4ff6-8792-611a674f5798"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2922, "id": "db72eeb0-b39a-4c42-9c0b-89ad1c1fc39b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}, {"label": "goal", "start_step": 2923, "end_step": 2924, "id": "cfe0becd-a6d9-45f1-b8d8-25a8b17c660c"}, {"label": "home", "start_step": 2933, "end_step": 2962, "id": "U5EMLS9RG5WKgcFzj618A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}], "episode_index": 16}
+{"source_uid": "fc66befb47b45a2c", "num_frames": 1971, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "985185f6-b872-4cc8-b19d-88f761a34ed6"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QH1YyB6eMy9rlg0ML0M8C"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "9d3c1088-7d5b-4510-adf6-46ef46772c98"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "goal", "start_step": 221, "end_step": 282, "id": "3d403445-1c0b-4ff5-85fe-6a8f1168828c"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "goal", "start_step": 283, "end_step": 486, "id": "3e2165d4-fa23-4dc9-84b9-12198a527fd1"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 487, "end_step": 562, "id": "185cc538-28a5-4a95-8c63-7b445ef8d7a8"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 563, "end_step": 716, "id": "5d11f3e8-1a23-40e8-956a-417d70cafce3"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 717, "end_step": 772, "id": "93e86424-080a-4ad0-b09e-88f3218d31cd"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 773, "end_step": 906, "id": "fa17989e-8a83-43e8-ad7e-053d028f3560"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 964, "id": "1a95822a-8702-4d0f-8aa4-d52a4b87385c"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 965, "end_step": 1070, "id": "719be375-ad19-4abe-bb85-6ee6b3b69bf3"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1071, "end_step": 1158, "id": "942035c4-13ec-4ad5-9bae-1ecb68363c54"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1360, "id": "ffb21f7a-63ff-4e17-9d2d-c2bc89739278"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "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: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "goal", "start_step": 1361, "end_step": 1410, "id": "850665c3-d5d7-4fb7-befe-2699c9f16c2f"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1516, "id": "9d7bafa1-8b52-4b94-8e0c-5a325fb608c6"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "goal", "start_step": 1517, "end_step": 1574, "id": "c8655ffb-6d42-4f17-8e39-6d22b777bb6a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1575, "end_step": 1700, "id": "566a8033-38b3-4ec6-b2d6-72d148f3105e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1742, "id": "3b873d0d-2b86-4ce9-8b78-31b4a7bddd65"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1743, "end_step": 1896, "id": "73a00855-d0bb-4fb1-a264-8e91ebb91f17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}, {"label": "home", "start_step": 1944, "end_step": 1970, "id": "_P6MvtpuGgEpfFKofWf8v"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "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: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}], "episode_index": 17}
+{"source_uid": "4f317db5c3f3871b", "num_frames": 2609, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "61843f4c-e9f9-4bda-86bd-15e67fbfa9eb"}, {"label": "valid", "start_step": 0, "end_step": 2583, "id": "hI2A03IkdywYgg5t7bVMl"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 113, "end_step": 266, "id": "4b24868d-025e-41fc-a27d-fea218be9482"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "goal", "start_step": 267, "end_step": 340, "id": "2d92f3d6-f2dd-46c8-af03-7abc81481c50"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 341, "end_step": 516, "id": "cc866429-b113-4b63-b76f-d69ecf8c975f"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 517, "end_step": 596, "id": "748e8056-890f-4c4a-b448-5f0cd9aac7b1"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 597, "end_step": 760, "id": "cd51c723-3ea7-453f-9ca0-4f5a0bdc32e5"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 832, "id": "2a3311d1-c5a8-4b4a-a902-d9c5753174d1"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 833, "end_step": 970, "id": "f3d6b314-946a-4a11-9fd2-9f722580a96a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 971, "end_step": 1020, "id": "a2262fbe-8b97-4d2d-97fc-5ed1539639e7"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1132, "id": "b8d30e1a-5d8f-4b7c-99dd-708f27b6a25b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "goal", "start_step": 1133, "end_step": 1194, "id": "d39767fb-a88c-42b1-b444-ca4379b8075c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1318, "id": "4942dc8f-4bc4-4579-ab40-4f4aa1184ab8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1319, "end_step": 1386, "id": "aa99e762-865c-42be-bd4e-d51392b49984"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1387, "end_step": 1492, "id": "a082604c-f167-4eb9-9a46-d3f8becae815"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1493, "end_step": 2056, "id": "42dd5748-3a20-4065-a389-642277e00327"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "goal", "start_step": 2057, "end_step": 2342, "id": "314488ea-6dd3-4539-8797-e58f450ea6e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "goal", "start_step": 2343, "end_step": 2430, "id": "250675a3-abb3-45bf-9a72-f23a28f92f36"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "goal", "start_step": 2431, "end_step": 2556, "id": "58f9c367-6274-40f8-81c6-75a2c786fe47"}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}, {"label": "home", "start_step": 2584, "end_step": 2608, "id": "v1pUQs4jlLUuCzhUUjQCe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}], "episode_index": 18}
+{"source_uid": "6f4dcfbc6e979c76", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "cca9937c-82fd-41d1-8de9-8da614c67b0e"}, {"label": "valid", "start_step": 0, "end_step": 1998, "id": "0f-HOKC9IGYLM7CA5AE58"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 109, "end_step": 226, "id": "4867fdfd-acc2-4ed7-bbbe-2bd3a05ffc0a"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 227, "end_step": 312, "id": "c24c1952-4fcf-4a9b-bab5-5bf9bcc2c955"}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 313, "end_step": 424, "id": "b37e9b6e-bcc4-4707-8775-4e1486cc49d9"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 425, "end_step": 490, "id": "41fb33c6-eada-4ad3-9b1b-4ee9182b949f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 491, "end_step": 756, "id": "75f9c915-9517-455b-8695-83504a9e1d67"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "goal", "start_step": 757, "end_step": 802, "id": "9f594896-3686-4346-af86-43ec058c60d2"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 900, "id": "b7a60197-6eee-4dd4-860c-22e10761c034"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "2c26d6ca-8afa-4026-9c5d-6d1de31a3a29"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "goal", "start_step": 971, "end_step": 1092, "id": "8b94aa0f-0cbc-4dd3-a7dc-f43a204a879e"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "goal", "start_step": 1093, "end_step": 1140, "id": "b48e0aba-5206-433f-93af-4650de8a5772"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "c1c49bc4-cc0f-46ad-a094-ec876b8e5e68"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "goal", "start_step": 1253, "end_step": 1312, "id": "701b1454-c7a2-40af-ba43-a04e8dc113cb"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1313, "end_step": 1412, "id": "5472cb55-e0c9-4691-952e-0fd02eb6ad91"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1466, "id": "b482772a-5932-4634-909a-c33f283c4abd"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1467, "end_step": 1678, "id": "d4a20b7e-6929-4952-9560-8d99c5f5a80c"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1679, "end_step": 1744, "id": "5ffb8d1f-7f75-46be-893c-87264e6855b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "goal", "start_step": 1745, "end_step": 1964, "id": "f05ba2bd-0a6d-4858-bb81-50eda8629aa1"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}, {"label": "home", "start_step": 1999, "end_step": 2032, "id": "aRkOQGE5ytO_W0W6kHy2l"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}], "episode_index": 19}
+{"source_uid": "469e9a3dd61d6228", "num_frames": 2292, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "a3e22b0e-cb61-416a-9beb-88428957c58d"}, {"label": "valid", "start_step": 0, "end_step": 2266, "id": "XK1_IPsGTaP6g-zkNxgmC"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"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 workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "93b23723-9f29-400a-ab07-8548b5447d90"}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "goal", "start_step": 261, "end_step": 468, "id": "1222e61d-c941-41ea-870a-5e10bbb4462f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "goal", "start_step": 469, "end_step": 792, "id": "df3b8f54-6026-4be6-8add-fa9fb99ed897"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "goal", "start_step": 793, "end_step": 854, "id": "06570b99-4b9f-4242-9b15-7ddc1fffe13f"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 855, "end_step": 1018, "id": "85196f69-d372-4b72-9d46-eb03f486c46b"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "goal", "start_step": 1019, "end_step": 1086, "id": "7e41cf92-1200-437f-9c04-a09ec4fe0130"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "goal", "start_step": 1087, "end_step": 1210, "id": "e78a0177-03c3-45b5-aae4-7306b19008e6"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "goal", "start_step": 1211, "end_step": 1280, "id": "0d931625-04af-40f6-a184-6720e30bed38"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1406, "id": "96045b20-e6d1-4e28-95b0-7e65065c5f2f"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "goal", "start_step": 1407, "end_step": 1480, "id": "cb81db0e-b6b6-48d6-8fbe-08e60eca19b1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "goal", "start_step": 1481, "end_step": 1598, "id": "ddb94c65-c9b1-45f1-a413-7edeae8f659b"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1599, "end_step": 1700, "id": "f762194f-c8fd-4eb6-8f3e-2f1c7d265be5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1701, "end_step": 1818, "id": "198215d4-f737-4360-8990-3237a912cd49"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "goal", "start_step": 1819, "end_step": 1888, "id": "15d2ff92-e54b-4862-8771-3a94458a172b"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 1889, "end_step": 2040, "id": "61e69085-9375-44f5-952c-d3f498006f0b"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2106, "id": "89d9c8ea-1837-4a25-84e5-911e10b8383d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "goal", "start_step": 2107, "end_step": 2226, "id": "bf649c8e-65df-47fd-b5e7-69798a97fc2a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}, {"label": "home", "start_step": 2267, "end_step": 2291, "id": "_7ApxkwjKID-cTyoybZ_J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"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 workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}], "episode_index": 20}
+{"source_uid": "a9b9fd4680a65d27", "num_frames": 1757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "9b55c267-8d9e-4b6d-ba6a-d90e4813a25e"}, {"label": "valid", "start_step": 0, "end_step": 1729, "id": "vCcpSJEFrfhy8rVQrvZo8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 262, "id": "86035d0f-cb73-4426-bece-e8c52d3bfbb0"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "goal", "start_step": 263, "end_step": 348, "id": "af59be67-dcf5-4a7f-bb49-18009534776c"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "goal", "start_step": 349, "end_step": 460, "id": "8cfddc79-b7e3-457d-b3ba-65d9d04ad23e"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 461, "end_step": 518, "id": "dcf3c970-a6eb-47b2-8d19-5f20caf9f037"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "goal", "start_step": 519, "end_step": 632, "id": "9ff3166b-ae28-4b7d-80ed-fd15efe2c401"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "goal", "start_step": 633, "end_step": 706, "id": "0414c211-c85b-4107-85c0-bcc8b7ac83fa"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 707, "end_step": 850, "id": "8de7f656-55db-463b-a574-cbfd9bf6fc04"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 904, "id": "c3f68376-2a4e-41a1-ab7b-caa1a39ab0dc"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 905, "end_step": 1000, "id": "433758c0-5447-4dc3-aa3a-878f60614baa"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "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: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "goal", "start_step": 1001, "end_step": 1092, "id": "321bbf43-5615-4d76-86a4-57cb05540025"}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "goal", "start_step": 1093, "end_step": 1194, "id": "0fedf178-0727-4cb1-af37-1cf107db5a36"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1195, "end_step": 1260, "id": "195936b8-f81b-41ba-b14e-e168e3adfbd5"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "goal", "start_step": 1261, "end_step": 1344, "id": "5c8b68da-9809-4d09-9012-8d55fa638982"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "goal", "start_step": 1345, "end_step": 1410, "id": "653efcea-8d9e-4ea9-9f4b-7defe79322f3"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1540, "id": "28c10c9d-950f-4d57-b0f9-acd0bad82df7"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "goal", "start_step": 1541, "end_step": 1590, "id": "32d382e8-e6eb-4d54-afd3-ca8e1e3f1d4e"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1696, "id": "963ac31b-06c3-4ce1-8de7-8275a42e4316"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}, {"label": "home", "start_step": 1730, "end_step": 1756, "id": "_7mg_lBoUN7bYmNbRkioZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "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: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}], "episode_index": 21}
+{"source_uid": "141c1a9d788c8e61", "num_frames": 1939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "11155cd0-43f7-440b-9109-5a3e874c0943"}, {"label": "valid", "start_step": 0, "end_step": 1912, "id": "9E_aawtHtUKTdvkRWByGK"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "7c09e676-c2ae-40fb-916d-c573d83a4b0e"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 348, "id": "6c5f3ed9-f575-4a3b-8227-a9eff62a4eda"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 349, "end_step": 464, "id": "694edf89-5849-447a-b665-a524f3b96f64"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 558, "id": "70dc6c8d-4aa6-4d3f-a932-f7e2b8b6a8a3"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 559, "end_step": 680, "id": "3b6c87c6-6435-4080-bab8-4a92ca2bd599"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 681, "end_step": 744, "id": "37b3b877-3952-4ae5-a89d-e17f3cc1c17d"}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 745, "end_step": 852, "id": "e6f243a6-f166-482b-841c-57b52fbe8a07"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 853, "end_step": 896, "id": "e9acfbc1-7158-45eb-9a44-795f39164ff8"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "goal", "start_step": 897, "end_step": 1056, "id": "8ad65530-d9ab-4fc2-a836-94f9505bfdef"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1057, "end_step": 1114, "id": "06c404ac-02bb-41e6-a6b1-24a709531e6a"}, {"label": "subtasks", "start_step": 1080, "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: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "goal", "start_step": 1115, "end_step": 1306, "id": "4a3ff4d5-d341-4ff4-9533-14378a70f8d7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1307, "end_step": 1358, "id": "887a0672-0769-464e-b852-8617579c4eda"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1359, "end_step": 1492, "id": "c1ba7447-e0f9-4975-babf-03515709be02"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1493, "end_step": 1556, "id": "95373def-71f2-4d72-83a5-0aaa90aa981f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1696, "id": "8448c4dd-2b08-4895-81d1-e8324cb0eb8f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "goal", "start_step": 1697, "end_step": 1748, "id": "bfa376d8-f080-4a38-8da3-b96b2dccc0cd"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 1749, "end_step": 1868, "id": "a5e1ae10-59e6-4f1d-bf78-57ab39082891"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}, {"label": "home", "start_step": 1913, "end_step": 1938, "id": "LGM3BKm4eMNwcC4UTyxJv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "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: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}], "episode_index": 22}
+{"source_uid": "515f12b1853a7bd8", "num_frames": 2474, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "392eea6c-3004-4a34-bed5-7b70f266898b"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "OC5yl0xC-HGKcxJRQbCyP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"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 with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "goal", "start_step": 123, "end_step": 246, "id": "fc4da57b-6824-47eb-af5d-ebf9864ae2fb"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "goal", "start_step": 247, "end_step": 316, "id": "30b3e0f0-a933-4b8a-b837-5805744fb7f9"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 317, "end_step": 558, "id": "bffb1bcd-5b56-411a-8edc-337d819144a3"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "goal", "start_step": 559, "end_step": 636, "id": "02a54f35-748a-4a7d-aa1e-1835d891418d"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 637, "end_step": 768, "id": "3c8ba00f-9b09-4c09-8a47-5f3b7b1f7e30"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "01322a23-5f66-4de4-8cb8-05561f687a9a"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "goal", "start_step": 847, "end_step": 948, "id": "0ea62248-c021-40af-be0b-7bf10a8d6e4b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "goal", "start_step": 949, "end_step": 1028, "id": "8b94725f-35b9-4395-8778-7bcdbac267b8"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 1029, "end_step": 1150, "id": "bdc3359b-eaea-4ad7-aa6e-48a3fd035181"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1151, "end_step": 1284, "id": "15a8513e-158d-4e6b-965f-d8b68f691669"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1444, "id": "f24023dd-7d50-4231-83ce-89dde116943a"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "goal", "start_step": 1445, "end_step": 1506, "id": "cbb4df6d-cd2c-4dae-a9b7-ac93f45b09a4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1620, "id": "6d1b12e1-e376-4ace-906b-dcdebb20e9d0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "goal", "start_step": 1621, "end_step": 1694, "id": "90d63c84-2be4-4e0a-a135-f00232456605"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "goal", "start_step": 1695, "end_step": 1948, "id": "29b27d3d-64d3-4ebd-982f-df90f0f2cd24"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "goal", "start_step": 1949, "end_step": 2018, "id": "602a6531-f2b5-44b5-85aa-434bbe03630a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "goal", "start_step": 2019, "end_step": 2402, "id": "3085615b-a0d1-44be-a6bf-9e528d500aee"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}, {"label": "home", "start_step": 2445, "end_step": 2473, "id": "bTI7bEZ8s_Saj6l3i2BO7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"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 with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}], "episode_index": 23}
+{"source_uid": "964ac1a036dcc889", "num_frames": 2046, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "5c74fd8d-00ad-47f0-b546-05e90572d946"}, {"label": "valid", "start_step": 0, "end_step": 2017, "id": "Eumst9BNl7lX4Y8OI9LeM"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 125, "end_step": 348, "id": "90480648-b137-41d6-8dbf-613b02ccc128"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "goal", "start_step": 349, "end_step": 472, "id": "c6e3022a-b3f3-4929-8900-5028badb78c5"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 473, "end_step": 600, "id": "84b827f7-a299-422c-be86-67bbc6481073"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "goal", "start_step": 601, "end_step": 676, "id": "b009b10d-cb55-4ebb-8def-7935a6a08b58"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 677, "end_step": 872, "id": "457d7c20-46b8-4e53-a9e8-d50a046b73eb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 873, "end_step": 914, "id": "93cb5201-c3aa-4fed-a3e4-79775d668861"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 915, "end_step": 1006, "id": "7f1b6ac9-3e55-43fb-b37d-8f7927054d80"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "goal", "start_step": 1007, "end_step": 1080, "id": "1a24c32d-0ec4-4e99-8ec8-967c1b92ec4b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1081, "end_step": 1198, "id": "18796abd-7cc7-4d9b-8e76-c251182f94cf"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 1199, "end_step": 1256, "id": "012f12f5-ddd1-417b-b79d-ed6b33024309"}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1257, "end_step": 1398, "id": "32a4ff6f-ca8b-4362-86cf-4dea1f574b7f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "goal", "start_step": 1399, "end_step": 1446, "id": "eaa84871-e566-4ebe-b2df-bb7a4ba38b1e"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1447, "end_step": 1570, "id": "e520af18-fc96-4701-8766-38ff1d5dced6"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1571, "end_step": 1608, "id": "8d92d2f8-7ba2-4968-8485-398a8292716e"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "goal", "start_step": 1609, "end_step": 1778, "id": "44a1d52d-d11d-4122-9e54-4eae29a3148e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "goal", "start_step": 1779, "end_step": 1828, "id": "806225da-b927-449c-900c-515c01e82c04"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "0042ceea-3830-49e7-9ae2-dc77003f7c31"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}, {"label": "home", "start_step": 2018, "end_step": 2045, "id": "WT2NHqPAHB8rrpFHQM6Ju"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}], "episode_index": 24}
+{"source_uid": "fe809daf4e3e0783", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "3c71740c-21fe-4559-bcc8-3cce2b4e2bab"}, {"label": "valid", "start_step": 0, "end_step": 1762, "id": "mOA_d6oqwwVcFQXxX_r7d"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 123, "end_step": 284, "id": "f80e0c73-5861-4125-8c0a-4fd2aabb6990"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 344, "id": "330e302a-cfa1-4c23-939c-db8f497e51f3"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 345, "end_step": 486, "id": "a0078746-d656-4b77-8ead-e563fa367786"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 487, "end_step": 548, "id": "ed0829ab-ca1c-460c-a0aa-a90578d68761"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 549, "end_step": 664, "id": "b2cd6373-f387-4302-9feb-fa5b5fdc4d53"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 736, "id": "94f31179-28c2-436d-8f8e-686983328ac7"}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 737, "end_step": 860, "id": "8acf781a-325a-4769-8f1a-83dbcc9686ea"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "goal", "start_step": 861, "end_step": 912, "id": "121ebd2b-f588-4d0e-ad3c-70a74520f679"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 913, "end_step": 1032, "id": "ed067487-bcd1-49d5-b6bb-206607201b79"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1033, "end_step": 1098, "id": "b982152a-5cac-4780-bb33-a457c78a54aa"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "goal", "start_step": 1099, "end_step": 1250, "id": "c0d38af2-4482-4b3b-9cd0-bc97cf6f9e97"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1251, "end_step": 1288, "id": "13c5e3f9-ac39-48da-80f1-6dfc83c3737f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1376, "id": "9db98774-6f9a-4d66-9c90-96e91bc37705"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1377, "end_step": 1434, "id": "904aecb4-2152-430b-b35c-0c9019f01430"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1528, "id": "bc0a665b-1073-443a-8f32-623b1403d186"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1529, "end_step": 1596, "id": "ce27f125-2d57-4f41-8bba-31fc977c156c"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 1597, "end_step": 1736, "id": "365f6aa9-0a6f-4a01-9b86-500794515c58"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}, {"label": "home", "start_step": 1763, "end_step": 1785, "id": "sMOFrT01trItdJsDjg-gb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}], "episode_index": 25}
+{"source_uid": "f286398675279a53", "num_frames": 2010, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "04dd5732-4ad7-4007-aaf0-79b33a4ca318"}, {"label": "valid", "start_step": 0, "end_step": 1987, "id": "HMhcrv5WsQjWopqzEicIE"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "goal", "start_step": 133, "end_step": 258, "id": "7cc3a3eb-0f9c-4865-bbd3-f6d3a86c0163"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"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 workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "goal", "start_step": 259, "end_step": 314, "id": "f7368a8f-24de-426a-b3f4-fa49b3bfab36"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "goal", "start_step": 315, "end_step": 438, "id": "9b30b526-a3fc-410b-abfe-db547918b47d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "goal", "start_step": 439, "end_step": 500, "id": "6f7e2957-a679-48fb-b14d-b11c5eb49ec7"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 501, "end_step": 604, "id": "9b6928d8-6074-41e7-81e3-0f107cacb026"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "goal", "start_step": 605, "end_step": 686, "id": "9fcdf615-57b4-449d-9368-7d69b7eb71ec"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 687, "end_step": 812, "id": "4a20f5ab-a8a8-41be-b2fe-c4ea6802880a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 813, "end_step": 872, "id": "e2c17de9-a5b9-4ff0-94bb-06629ef22a73"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 873, "end_step": 1000, "id": "9f867883-903d-4163-9e85-8ad54e235bba"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "c1de2a9d-6f4e-428b-9335-f4c823d46db6"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "goal", "start_step": 1077, "end_step": 1274, "id": "852f04b9-1302-4706-8d38-792acd91c92d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "goal", "start_step": 1275, "end_step": 1332, "id": "415cec86-9e68-4a58-86e4-c40afe7fde63"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "goal", "start_step": 1333, "end_step": 1494, "id": "1c43385b-0578-4b37-a02d-e7bf37331538"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1495, "end_step": 1550, "id": "faee1a49-f5d6-459a-80d1-9becc63b0534"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1706, "id": "8a04ed0f-34fd-4333-8017-55c41bc98d9d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "goal", "start_step": 1707, "end_step": 1776, "id": "cd30a8c2-9863-4810-9dc5-8bc683505203"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 1777, "end_step": 1952, "id": "a7f40192-edfd-4001-85a0-68a00b02c13d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}, {"label": "home", "start_step": 1988, "end_step": 2009, "id": "2_199ngJ4RVC7yUX91efs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"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 workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}], "episode_index": 26}
+{"source_uid": "9c4087463103f438", "num_frames": 1892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 121, "id": "6e993591-6e50-4dd7-96a3-f6070f9d4849"}, {"label": "valid", "start_step": 0, "end_step": 1861, "id": "yf9MjQquG6-fSq0m7_aGU"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 122, "end_step": 289, "id": "239c4866-dd93-4e58-9267-2f64dba1d41f"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "goal", "start_step": 290, "end_step": 353, "id": "c06b3b34-d852-459b-9d44-0514215a118a"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 354, "end_step": 485, "id": "d08e318b-06c2-49ce-9b16-f2755714d2f9"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "goal", "start_step": 486, "end_step": 549, "id": "e2d8d0db-7ae2-4cc5-9a84-1715a920c4ea"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "goal", "start_step": 550, "end_step": 735, "id": "65621c09-4250-4143-9427-b0f54b2439ba"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "goal", "start_step": 736, "end_step": 819, "id": "249bf3e9-89d1-4b92-8a47-bece4dd23c64"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "90cc4dfd-f578-4550-b967-ba08b9dd41a1"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 946, "end_step": 1003, "id": "c2764614-7417-452f-820c-29266f05e8cc"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1004, "end_step": 1097, "id": "5706b358-93b9-48aa-955a-a2b7695853de"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "goal", "start_step": 1098, "end_step": 1165, "id": "f9fdb436-5e6f-48ea-9ad0-957e052238f5"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1166, "end_step": 1257, "id": "603e6812-1a91-4b7e-9040-0197bbbe9935"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1258, "end_step": 1319, "id": "e0bb320d-0fcc-40ef-a3a0-558bb45fba2b"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1320, "end_step": 1455, "id": "960a9fdb-8179-4bb6-9486-b6d644c549e2"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "goal", "start_step": 1456, "end_step": 1531, "id": "964174c1-51fe-490a-b281-443328c3fd26"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1532, "end_step": 1633, "id": "09aa3095-efee-4359-ad37-a073abf38e83"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1634, "end_step": 1701, "id": "bd854497-2d82-45d7-8541-972816b5f3ff"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1702, "end_step": 1817, "id": "b12ac01c-5fd9-4e60-9c8c-95a29f4b8222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 1862, "end_step": 1891, "id": "cFDI1PHZM3wAldU2NvaJd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "a7f1df29b8f34c54", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "07acfadd-8428-4a79-8b3e-4dc4eea518da"}, {"label": "valid", "start_step": 0, "end_step": 1944, "id": "hPb1UMpSyrpVHYUSMhDZ_"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 242, "id": "b20a8dd7-3b2d-47d6-ba59-f58e4c77418b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 330, "id": "11cf02e4-d14e-480a-a3a7-9d30ce2f7733"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 502, "id": "3a40ede3-f251-4ec4-876a-e78efd82f43c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "b116090f-8670-4fdd-8d68-99ade39d52e7"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 577, "end_step": 704, "id": "78262289-fa8c-4252-9d12-50fd595d2138"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 778, "id": "ea357a5f-693c-4e37-95c0-c633dad9b228"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 779, "end_step": 870, "id": "b8917b1d-8440-4dca-90c9-031e8bc0b777"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 932, "id": "cb43c323-4f76-4fe7-a977-f9e901c36ecb"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 933, "end_step": 1038, "id": "d2e5958f-1cf9-40aa-a13b-c1976e789511"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1039, "end_step": 1090, "id": "054a0c5b-acc4-40bc-b249-e448756877ae"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 1091, "end_step": 1216, "id": "e455d7b6-9d72-4334-9094-bae7fec6893c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1266, "id": "a1a0a875-f7f6-4f18-a934-9bbfe529f1cc"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1267, "end_step": 1408, "id": "d309c4c0-943f-4390-9bad-672e4feb5aca"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1409, "end_step": 1598, "id": "b2141ef8-a08c-41db-875f-0d78f4e2e874"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1599, "end_step": 1728, "id": "c293b15b-5a79-4e2b-9aa4-c3ec46c3d4e7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "goal", "start_step": 1729, "end_step": 1776, "id": "6dc527a2-3bda-441b-9f34-7a88d44d4bd5"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1777, "end_step": 1900, "id": "ceb146df-7b90-4474-98fb-5efc411a85ee"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}, {"label": "home", "start_step": 1945, "end_step": 1968, "id": "mjyqiUStq6YelPQRdSO0W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}], "episode_index": 28}
+{"source_uid": "c4ed661951693d2e", "num_frames": 2259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 324, "id": "37972cf4-7e8e-4bcd-8538-9a377a7c3ea0"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "YwRH9HK7Rm932yD2J2z48"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "goal", "start_step": 325, "end_step": 666, "id": "ad274156-dad9-4eb9-ae75-eb99d6b8da97"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "goal", "start_step": 667, "end_step": 768, "id": "7d16c7b2-5356-4118-86b2-daa85d18d8f3"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "goal", "start_step": 769, "end_step": 876, "id": "5d123ad5-50ae-4e16-8b49-54596eaeedb7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "goal", "start_step": 877, "end_step": 958, "id": "1aa9029a-6578-4a54-9449-8adcb474a493"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 959, "end_step": 1104, "id": "46ae778e-af7f-4ff8-820a-3fdf9118290f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "goal", "start_step": 1105, "end_step": 1170, "id": "fb688db9-cbe1-435c-a2a8-c3b219c8dc92"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 1171, "end_step": 1288, "id": "8bfabe8c-cf4e-4b3b-977b-e19d93b7b927"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1340, "id": "79b04508-eb94-423e-86f2-11259123684b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1446, "id": "f59e5dac-75c2-4e81-af65-f0b3879526b4"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1506, "id": "898b547c-de6a-4f84-b48a-11280b964211"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 1507, "end_step": 1636, "id": "b9ed122c-e784-443d-b508-18f01ab5383b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "goal", "start_step": 1637, "end_step": 1708, "id": "147884d2-7a1b-4e59-8cc8-7738aed327ab"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "goal", "start_step": 1709, "end_step": 1806, "id": "25464905-c96a-4766-b859-b6ab120d0d15"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1807, "end_step": 1862, "id": "4e27d0a6-89e5-4707-9676-f68a1f65d51e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1863, "end_step": 2004, "id": "7f1c4de7-75ce-4be0-a53d-b4b92bc07fc9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "goal", "start_step": 2005, "end_step": 2068, "id": "ee808080-f145-449c-9641-70f6897929df"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "goal", "start_step": 2069, "end_step": 2196, "id": "478083ab-f944-42c5-b9a9-32a04e6e518b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}, {"label": "home", "start_step": 2241, "end_step": 2258, "id": "Ov-vYgvxUo-fMWIOs2TNC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}], "episode_index": 29}
+{"source_uid": "1585dca8f71d088a", "num_frames": 1949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "b35a919c-c605-4eba-9f31-3f4fdc4a5a98"}, {"label": "valid", "start_step": 0, "end_step": 1922, "id": "sbSNz_AYPfHqSlE9iIDba"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 236, "id": "b8973121-6ae7-47e0-b0aa-af77e90c4943"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 304, "id": "59b38ccb-d269-4be3-9e0a-6e183549a9e6"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 305, "end_step": 422, "id": "f42432bd-ee77-4fa4-a0aa-8c460bd6c303"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "goal", "start_step": 423, "end_step": 492, "id": "f5b82f3d-1616-45cb-9449-2eb61d334ba3"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "goal", "start_step": 493, "end_step": 618, "id": "352e53ce-9049-4171-b64a-fdfc2e539abf"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "goal", "start_step": 619, "end_step": 704, "id": "5e96fe99-030d-419e-b475-81a792b0fda8"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 880, "id": "8deb6afc-79d4-48b3-a2c9-e655f1d13269"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 956, "id": "e4426b18-c5f8-45cf-8416-ff2e49f1c27e"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 957, "end_step": 1106, "id": "877e2d82-755a-4fa4-9f8f-50b2e51b5501"}, {"label": "subtasks", "start_step": 968, "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: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1107, "end_step": 1183, "id": "61cebb38-035c-42a1-9abc-8cff4c2c15dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1184, "end_step": 1299, "id": "e18aa357-df2f-4c26-b619-9ac4826ee4cf"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1300, "end_step": 1415, "id": "b988afde-a7be-4e30-8521-64b4d81fb969"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "goal", "start_step": 1416, "end_step": 1541, "id": "5fced312-ce71-4180-91c4-cab5f9dea640"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "goal", "start_step": 1542, "end_step": 1607, "id": "3ae871e9-1f66-4905-97b8-23ca651aa6bb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1608, "end_step": 1689, "id": "e93c6b3f-dfc1-48f9-8ea5-db4ec16501f9"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "goal", "start_step": 1690, "end_step": 1763, "id": "a6bbee33-ea11-4594-ad82-1d3f95f043f6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1764, "end_step": 1899, "id": "9d6495c1-b25a-43ad-bee1-ad74896673b5"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 1923, "end_step": 1948, "id": "-x3rI6NuoE1pTFnpI9xA0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "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: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}], "episode_index": 30}
+{"source_uid": "facf5c89374de42d", "num_frames": 2220, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "35320456-897e-4ac3-8fff-38d1dadac1a6"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "zasdL3PPhTs3E6Kixfjnt"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"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 obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 137, "end_step": 234, "id": "c2863eb3-d32e-4d88-92e5-841c364513ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "goal", "start_step": 235, "end_step": 310, "id": "eeb6ab5c-11c6-473f-a6ad-aa88e53c495b"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 311, "end_step": 466, "id": "855b5d3d-13a7-4a8c-9ab3-33353ed85f62"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 540, "id": "6167a6a3-3146-481c-8dec-93e8a2a2dae9"}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 541, "end_step": 640, "id": "cb370230-797f-4c3b-bc23-a63e8f3d6e77"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 730, "id": "4631eecf-3592-4331-86a6-9bbaf8df961a"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "goal", "start_step": 731, "end_step": 840, "id": "54287a62-16e1-49a4-bb6c-0542436301aa"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 892, "id": "df87e4b8-2bb8-4f71-9327-d1e87928adb7"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 893, "end_step": 996, "id": "8bfe4faa-7cb3-4d20-b34a-30898e4a0c47"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 997, "end_step": 1064, "id": "7b43661f-77aa-4fae-b7e7-38030c0dd6b2"}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 1065, "end_step": 1224, "id": "a9687224-4dca-4ac7-95b0-4dc3114ee1bc"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "goal", "start_step": 1225, "end_step": 1278, "id": "8a011638-6c91-407a-8575-c10b666326d6"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1279, "end_step": 1372, "id": "0c0c4a2d-f2cf-4f63-aea0-97970256dfd6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1373, "end_step": 1431, "id": "6c67ec6b-21a4-417d-ab63-e8a87942ef03"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1432, "end_step": 1569, "id": "6cb3473b-2ee6-4d96-9d54-81f67d24c1ab"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 1570, "end_step": 1624, "id": "66731be8-dd71-4944-a881-8e2bf419a8af"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "goal", "start_step": 1625, "end_step": 2194, "id": "8557d868-09d2-435c-8088-8433407604da"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}, {"label": "home", "start_step": 2194, "end_step": 2219, "id": "sCbYzoWea0_cVpZQYt-5f"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"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 obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}], "episode_index": 31}
+{"source_uid": "a81d9a09ad318444", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0e7d700d-fc25-4775-a82c-0ae87e3382ae"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "14Uvrqgnxotdtd0OIZLc1"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 246, "id": "9749b927-780c-4a71-884e-8830dd2d190b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "goal", "start_step": 247, "end_step": 315, "id": "c1d866c7-2194-40be-9d21-2e8400ee77a7"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "goal", "start_step": 316, "end_step": 429, "id": "fbadcab6-9199-46de-b39e-f4add02efda7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "goal", "start_step": 430, "end_step": 513, "id": "3c3aa968-6839-42d2-ae74-407ffbd48a16"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "goal", "start_step": 514, "end_step": 677, "id": "eab606b1-eda2-4d21-a784-7a020f052f8b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 678, "end_step": 761, "id": "93443bd6-c65c-4763-a7b9-71818babe097"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 762, "end_step": 899, "id": "bb93025e-b652-4089-921f-a990fc0c9e6b"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 900, "end_step": 971, "id": "3e658616-e8c7-40a5-a5e6-8d85006164cc"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "goal", "start_step": 972, "end_step": 1273, "id": "60f807cd-97b8-4ab8-8b2a-d31deeafab75"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "goal", "start_step": 1274, "end_step": 1391, "id": "235e4abf-dd76-45c7-89f5-280004ab5a9b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1392, "end_step": 1551, "id": "41f23f46-c519-438c-9a4b-4ea63a9d9625"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1552, "end_step": 1633, "id": "56e9dbae-e3d9-4c24-8800-e475563f4d96"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1634, "end_step": 1805, "id": "0c40e1d8-b408-4b3a-b7fe-6f2af283ab93"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1806, "end_step": 1873, "id": "2510535b-76cb-47a7-b243-08941e3a9792"}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1874, "end_step": 1981, "id": "9e5596b7-7bb1-469f-8523-958650c8fd8d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "goal", "start_step": 1982, "end_step": 2039, "id": "58c26b65-65ba-4b40-980a-e1f70dc282d0"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "goal", "start_step": 2040, "end_step": 2189, "id": "6c944342-c230-4f72-9230-39a055d55747"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}, {"label": "home", "start_step": 2234, "end_step": 2263, "id": "bwu4D_s0QRdr6OqLL-ksn"}], "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 any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}], "episode_index": 32}
+{"source_uid": "9fe0c612ffba510d", "num_frames": 1877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "0caf0f9c-bf0f-4326-b484-ca01b01aa5a8"}, {"label": "valid", "start_step": 0, "end_step": 1851, "id": "ljqE97Fmr-zznKtXzNyfR"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "6f17c396-5f43-4bcd-baaa-cf8a962fa445"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 235, "end_step": 302, "id": "bb3561ff-c204-479c-9302-e0949e834a88"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 303, "end_step": 426, "id": "5c01c44a-8be1-4b36-8580-05e80069e3f5"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 427, "end_step": 480, "id": "c7138101-b320-422d-a134-734a1f6e8089"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 602, "id": "5ec9fc9b-81f0-4a34-b31d-e7c8d2556eb6"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 603, "end_step": 680, "id": "da243573-c8ef-489b-8bb3-2d24da1b8a54"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "goal", "start_step": 681, "end_step": 784, "id": "97784acc-3fe8-4609-b2fb-1eb37e3fcc33"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "goal", "start_step": 785, "end_step": 882, "id": "c23e639e-9f4e-4ebe-887d-780d9c6a2a75"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "goal", "start_step": 883, "end_step": 1000, "id": "03187d51-592e-4d09-9afb-9707b27a917a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "a7766855-2809-4df4-acf1-45901cd59138"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1077, "end_step": 1218, "id": "1fb096cf-a109-45d2-81f1-261744d33960"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 1219, "end_step": 1294, "id": "368a831d-cbfa-4b90-9071-e8f36c510b58"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1295, "end_step": 1394, "id": "d392811e-8fca-4276-ac10-826454339be5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "goal", "start_step": 1395, "end_step": 1496, "id": "b3eb556f-f83d-4c91-8908-88144b660784"}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1497, "end_step": 1626, "id": "8612754d-f58e-4671-b418-e198f36c5cba"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "goal", "start_step": 1627, "end_step": 1680, "id": "de566b7a-1fc1-4948-9a64-b91b45fdd35c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "goal", "start_step": 1681, "end_step": 1818, "id": "30c693d9-8509-43ef-b41e-7a787ed57944"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}, {"label": "home", "start_step": 1852, "end_step": 1876, "id": "2_iXm2YqTxKWH8eZVkzUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}], "episode_index": 33}
+{"source_uid": "703a71220ee9bee6", "num_frames": 2209, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "a750ab42-42f8-4def-888e-664cd0e36302"}, {"label": "valid", "start_step": 0, "end_step": 2182, "id": "2cB7j1DSJtIipZymAdPKr"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "3cabf69b-1ac8-4dc8-a4b7-9b4a4d24bde2"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "goal", "start_step": 273, "end_step": 338, "id": "f6842f0c-6528-485d-ab43-81b2f2a642ee"}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 339, "end_step": 458, "id": "48d15e10-9f50-49a3-ac09-aeb3565b8380"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 459, "end_step": 575, "id": "ebb3a755-875c-493d-986d-e7b9a539ad69"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 576, "end_step": 707, "id": "42116774-62ac-4193-92cf-577d014da07e"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "goal", "start_step": 708, "end_step": 785, "id": "fb34938c-0843-4290-a572-02061230ff09"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 786, "end_step": 885, "id": "3f22e731-20ad-4a99-9c94-940b6124d4f3"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "goal", "start_step": 886, "end_step": 947, "id": "9ef1c3c2-cb33-41f7-b79f-3138e4137e20"}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 948, "end_step": 1061, "id": "dac7146c-9e0d-4f4d-8f88-155642f63d75"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1062, "end_step": 1135, "id": "49aae345-fce8-4bfb-8cca-9117b10d3d40"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1136, "end_step": 1257, "id": "b24f739f-c4cd-432c-b3cb-404784b83605"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1258, "end_step": 1327, "id": "66d8aff9-9e90-4d8a-bcb1-f3cecd209341"}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1328, "end_step": 1693, "id": "c33696da-be52-4e61-bed2-b7307ba95263"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1694, "end_step": 1771, "id": "9ec99aaa-0b51-49bf-a0ff-41e18b4dd363"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1772, "end_step": 1973, "id": "1fe36bd0-6bf5-4e22-a26d-be25b73b7fc6"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1974, "end_step": 2033, "id": "74b9577e-6204-4e5a-9c98-42831d7f6d3b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "goal", "start_step": 2034, "end_step": 2167, "id": "b4653856-be52-42e7-8644-c76e8acc4cb8"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "home", "start_step": 2183, "end_step": 2208, "id": "nZP1FxulmR1jn4et0Zrv0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}], "episode_index": 34}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6aeaca458b8760c1a1105bffaf956b55ea0bdb5a
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,35 @@
+{"source_uid": "10b94b8542724f2a", "num_frames": 2544, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "adc34af3-e3d4-4fd0-9324-c63cfebe85e5"}, {"label": "valid", "start_step": 0, "end_step": 2515, "id": "_VGSNHjBjUlBEhY3KGJnJ"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 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: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 137, "end_step": 349, "id": "ac770945-e8c0-4835-8720-be3a0f83d980"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 350, "end_step": 435, "id": "884cbb03-589f-4853-bb9e-5f2c59bc5b12"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 436, "end_step": 571, "id": "31dde9f3-6eef-4157-9061-ebb41a26dcd4"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 572, "end_step": 666, "id": "360105ac-9d89-4e2a-b0e1-57e26cbf6814"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 667, "end_step": 842, "id": "26ab1673-cf70-4ca3-8859-34db15c98462"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "goal", "start_step": 843, "end_step": 1090, "id": "6b844e05-deb9-46ca-8342-5f5cd12b5bda"}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 1091, "end_step": 1219, "id": "d6399cc7-778d-446c-bef9-091388a06f4b"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1220, "end_step": 1293, "id": "7bb1b9f6-660b-40f2-b10c-71c869824c93"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "goal", "start_step": 1294, "end_step": 1452, "id": "cc688aac-c0e8-45e8-85d0-9108f2db0370"}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1453, "end_step": 1527, "id": "62e2fb39-faae-4642-bb6b-04c7f7cdbf70"}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1528, "end_step": 1671, "id": "b6dad6db-fd52-4270-84d7-e2c43c50623d"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "goal", "start_step": 1672, "end_step": 1756, "id": "b0ab7323-754f-4ed6-a6eb-3bf81560df72"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "goal", "start_step": 1757, "end_step": 1886, "id": "bf30c65b-64db-4cfe-bb35-a83d544e5d1f"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "goal", "start_step": 1887, "end_step": 1977, "id": "63df7e6c-f32e-448a-871f-d040b5133488"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1978, "end_step": 2224, "id": "48b18501-e5a8-497a-a37b-eacf8b406315"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "goal", "start_step": 2225, "end_step": 2297, "id": "66921c71-f74e-4fa3-8664-fc60d90eec4d"}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "goal", "start_step": 2298, "end_step": 2466, "id": "a4304520-0d21-4378-966e-536bf06f2ab1"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "9-VZ41MTJdfPESzfuUKWr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 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: grasp: Right hand grasps the green cubic block on the left side of the table, fingers close to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and rightward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg, aligning the block's hole with the peg and pushing the block down along the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal piece on the black table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 390, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by aligning the central hole and lowering the object down."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object by opening its fingers until the grip is fully released and the hand separates from the object."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward slightly away from the leftmost purple peg while being empty."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the white hexagonal piece on the black table surface and grasps it."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it towards the left-front purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the left-front purple peg and inserts it downwards onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 735, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the left-front purple peg without moving."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece by opening its fingers and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the front-right purple post of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 862, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the white hexagonal block on the table below the wooden base and grasps it with continuous finger adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front-left purple post of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple post by aligning and fitting it onto the post."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the table near the wooden rack, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it leftward and upward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical sleeve onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1327, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the top of the rightmost purple rod on the rack."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the rightmost purple rod of the rack, moving downward to fit the block onto the rod and adjusting its position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the rightmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the middle purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto a peg of the wooden board, aligning and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden base, fingers open and separate from the piece."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal piece on the black table surface, not yet making contact with the piece."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the black table surface, fingers adjust to form a stable grip on the piece."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and inserting it down onto the lower white block on the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple vertical rod of the wooden rack and releases its grasp on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple rod on the middle wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple rod and inserts it downward to assemble the part onto the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part, with fingers opening and separating from the assembled part."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top component of the front-right white cylindrical object on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring on the right side of the black table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table and transports it to above the rightmost post on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the rightmost post with purple top by fitting it downward."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green ring fitted on the rightmost post without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring on the rightmost post until fingers separate from the ring."}], "episode_index": 0}
+{"source_uid": "ded4c6296fd67704", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 178, "id": "66a7417c-e105-4b60-876d-715a94409981"}, {"label": "valid", "start_step": 0, "end_step": 2927, "id": "QKo1F1UebcJm1u8OcsLbI"}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "goal", "start_step": 179, "end_step": 473, "id": "b9ffe74d-6807-4fec-9148-8933bfc53c47"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 474, "end_step": 618, "id": "ab6cdf46-23f4-4b4b-a501-7171405d8a60"}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 619, "end_step": 761, "id": "9e31bf5e-e0a9-4e61-8b45-d845e11efbc2"}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 762, "end_step": 850, "id": "0ff8712e-77dd-4b0c-b1a4-6d2728f94a2e"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 851, "end_step": 1052, "id": "729b66ef-cbc0-4fe6-8d57-c25e98eaa872"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1053, "end_step": 1134, "id": "64062945-1bca-4f55-a96e-0e8e416e1072"}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "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 white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1269, "id": "af781703-feba-4732-9f66-7a1bf7c46c7f"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 1270, "end_step": 1352, "id": "5b1089aa-e740-4a04-af1d-62f97fe296a5"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1353, "end_step": 1462, "id": "e6e5cb82-2536-401c-b9bf-701f042d74e2"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1463, "end_step": 1537, "id": "8a0079d2-b83d-4d86-b4fb-5d4e0d76d0b9"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 1538, "end_step": 2163, "id": "38fcc919-7346-44a0-9233-224e724f11b7"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2164, "end_step": 2240, "id": "438276bd-422a-4c41-8e2d-e0d9ee95bc4c"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2241, "end_step": 2420, "id": "9f5c6512-fdff-4860-bbd6-e0dbd716db88"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "goal", "start_step": 2421, "end_step": 2486, "id": "a0c2c040-d7d5-4e46-96fb-3bcd0bd334c9"}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2487, "end_step": 2644, "id": "e9be358d-638c-489d-92a1-92b9616141ee"}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "goal", "start_step": 2645, "end_step": 2733, "id": "13b36e15-ba36-464b-9641-a0858cbeb2d7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2734, "end_step": 2891, "id": "1867f183-f5c5-4a67-88b6-ce24994e316e"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}, {"label": "home", "start_step": 2928, "end_step": 2955, "id": "MzYogtalYlJcRkeo36Ird"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts finger posture at the left side of the table without obvious displacement. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 37, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:adjust_finger_posture: Right hand adjusts finger posture at the right side of the table without obvious displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located below the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the green block and fits it onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block located on the black tabletop."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand applies downward pressure on the green block to push it fully onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the green base."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "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 white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the tabletop and transports it above the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green cubic block onto the top of the rightmost peg of the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to fit it onto the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table to the right of the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod until it is seated stably."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block placed on the purple rod."}, {"label": "subtasks", "start_step": 2438, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward toward the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2639, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post on the wooden rack and inserts it down onto the post."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple cylindrical component into the white block on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block and moves it towards the rightmost tube on the wooden rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the protruding rod of the rightmost tube and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that has been fitted onto the tube."}], "episode_index": 1}
+{"source_uid": "cca582039532b8d6", "num_frames": 2266, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 151, "id": "acdb5e5b-a9f7-4436-8a95-bdfa2d7bc6fd"}, {"label": "valid", "start_step": 0, "end_step": 2235, "id": "Ihe57_rLJ6K9jZYMOOOhJ"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 152, "end_step": 320, "id": "e4ba8c2f-17c0-41c6-b176-91cb0e2630c4"}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "goal", "start_step": 321, "end_step": 401, "id": "9555ac72-3eac-4d10-bb5f-21c0bc6470bb"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "goal", "start_step": 402, "end_step": 565, "id": "989c881c-f185-4fc9-928d-b6bcc3269b0f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "goal", "start_step": 566, "end_step": 664, "id": "da9106af-b49e-4a07-80ff-a45d72692933"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 665, "end_step": 907, "id": "2adcd9a2-90b5-48d5-a871-3ca7dec3eea8"}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "goal", "start_step": 908, "end_step": 983, "id": "2956bfd9-bfb6-44de-b53b-b378b85af6da"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "goal", "start_step": 984, "end_step": 1130, "id": "8267c26b-2f36-48f2-adc7-8edb310775c4"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1131, "end_step": 1201, "id": "9d404b37-c142-4fad-9cc9-1c1066123f44"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 1202, "end_step": 1375, "id": "014b1403-ccd6-4618-a1ad-2edc03b2278d"}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "goal", "start_step": 1376, "end_step": 1445, "id": "6d679667-53eb-43c4-8ca8-ef04e45d2315"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 1446, "end_step": 1602, "id": "7a1dea3d-1785-4915-8277-cdbe9ee834f2"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "goal", "start_step": 1603, "end_step": 1671, "id": "7844121b-ee41-43af-b111-f7a421bbdeff"}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "goal", "start_step": 1672, "end_step": 1778, "id": "581759fe-9dbe-4838-aa01-35a386519a28"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1779, "end_step": 1845, "id": "6261953a-9b54-4d6f-8bda-184f0a94ae30"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "goal", "start_step": 1846, "end_step": 1996, "id": "9ff14d8b-716a-4bf8-b16c-296a4c6ca92f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "goal", "start_step": 1997, "end_step": 2062, "id": "0b574d7f-39a0-49ae-9a16-f757f1093708"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "goal", "start_step": 2063, "end_step": 2202, "id": "72256426-59d2-40e9-b481-7b153db510a4"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}, {"label": "home", "start_step": 2236, "end_step": 2265, "id": "3nhe3XnA_bnSMOK4FnXAz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves from the right initial position leftward toward the green hexagonal block placed in front of the wooden peg base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and closing fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple peg on the wooden block board to set it on the supporting green block below, then opens fingers slightly to release the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the hexagonal blocks placed on the central table surface, keeping fingers open as it approaches the target area."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut on the black table surface, forming a stable grip on the nut."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the set of purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden base, moving the nut downward with minor adjustments to fit it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the seated white-capped cylindrical object on the wooden assembly rack, breaking contact with the object."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downwards through empty space toward the white hexagonal nut resting on the black table surface below the rack."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand moves the white hexagonal nut downward, aligns its central hole with the purple peg, and fits the nut onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any observable movement, hand shape adjustment or positional change of the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple peg until the nut rests stably on the top surface of the pre-placed white nut below, fully supported by the target surface."}, {"label": "subtasks", "start_step": 900, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from its initial position above the wooden peg board toward the small white hexagonal nut positioned directly in front of the peg board, with fingers extended toward the target."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand fingers close around the small white hexagonal nut, making small positional adjustments to form contact and establish a grip on the nut."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple cylindrical post, lowers the nut to fit it onto the post, and makes small adjustments to align the hole properly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward from the area above the wooden block rack toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1222, "end_step": 1251, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, makes small positional and angular adjustments to fit the block onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate_release: Right hand holds the green cylindrical block, aligns it with the purple rod on the wooden base, slides it down to complete mating and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward toward the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the target purple rod on the wooden base, making slight positional adjustments to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves diagonally downward toward the upper white hexagonal nut on the dark table surface adjacent to the wooden block assembly, remaining empty while approaching the target object."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the upper white hexagonal nut, fingers closing to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: transport: Right hand holds the white hexagonal nut and moves it leftward and upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand slightly adjusts the position and orientation of the white hexagonal nut to align its central hole with the vertical peg on the wooden holder."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place: Right hand moves the white hexagonal nut downward to place it onto the aligned vertical peg on the wooden holder until the nut rests on the holder surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: place_release: Right hand lowers the bottle with a purple rod into the empty slot of the wooden bottle rack until the bottle is supported by the rack, with fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small finger adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the black table next to the small green block without any observable movement."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, and transports it upward and leftward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1987, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden holder, and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block, allowing the block to rest on the base of the wooden holder."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the green cubic block resting on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the green cubic block to establish a stable hold on the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green cubic block off the table, moves it upward and leftward to position it above the exposed purple post on the bottle rack."}, {"label": "subtasks", "start_step": 2115, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple post, lowers the block to fit it securely onto the post to complete the assembly."}], "episode_index": 2}
+{"source_uid": "ea6170b4e69a72e1", "num_frames": 2552, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 125, "id": "920e1521-92d4-4193-b165-ecb4599a8603"}, {"label": "valid", "start_step": 0, "end_step": 2530, "id": "Szj0y_m_5bOEE971vf2PI"}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 126, "end_step": 295, "id": "dc764853-8e82-4e7c-968f-e4e6d51c03f0"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "goal", "start_step": 296, "end_step": 415, "id": "4867bc5d-cd55-4347-9228-dd1442aec95a"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 416, "end_step": 587, "id": "b85968bd-8ed5-4745-b987-9d15ad603385"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "goal", "start_step": 588, "end_step": 669, "id": "9d4e044e-52e9-4877-bfd8-5c10a6e1fd57"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 670, "end_step": 839, "id": "668b2521-9ed2-4d33-9c61-5f0b8942a5ea"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 840, "end_step": 922, "id": "d8017aed-aca7-4837-9d95-b9b4901074d3"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 923, "end_step": 1153, "id": "7ec5d23c-ac78-4705-a2f2-8dfe5ccbd8c8"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "goal", "start_step": 1154, "end_step": 1237, "id": "475a0f3b-e6f3-4c48-94ae-dc029c199b1b"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "goal", "start_step": 1238, "end_step": 1359, "id": "057fea47-33a8-498f-90e1-b4b7553d6cab"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1360, "end_step": 1444, "id": "d547638e-9d1b-45cc-af00-d94b8a02ebb5"}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1445, "end_step": 1604, "id": "1bbc3b44-e972-430f-9a83-bf2369db961e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "goal", "start_step": 1605, "end_step": 1679, "id": "290060f9-be34-4227-b204-23dceaa755be"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1680, "end_step": 1829, "id": "edc32e3c-1111-4e80-b318-4760ff8c6478"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1830, "end_step": 1900, "id": "3226dcff-ff34-4211-9756-45c49ef58c9b"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1901, "end_step": 2026, "id": "76551511-062e-430d-a5b2-ba1914f91733"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "goal", "start_step": 2027, "end_step": 2090, "id": "2e73f6d9-007c-4062-80bf-655d3f15d141"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2454, "id": "cf87f5ca-4e29-4b37-9342-cd22a5894659"}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}, {"label": "home", "start_step": 2531, "end_step": 2551, "id": "HWxg7o5dGkXWmH_GwKJae"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: other:spread_fingers: Left hand stays at the left side of the table without overall displacement, with fingers gradually spreading open. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 45, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right initial position toward the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 89, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the front-right purple peg of the wooden board."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves left-downward toward the green hexagonal block on the left table area."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the wooden base with six purple pegs, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with six purple pegs upward from the table surface until the base is fully lifted off the table."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the wooden base downward, aligning the purple pegs with the holes of the white and green blocks on the table, and inserts the pegs into the blocks to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the assembled wooden base with pegs and blocks on the table without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the ring onto the vertical pegs of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the table surface without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table surface and transports it upward and rightward to the position above the target purple peg of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg of the pegboard and inserts it downward to complete the assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost peg of the pegboard, with fingers opening from a closed grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the table while moving it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple rod of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-left purple rod without moving."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg, aligning the hole of the block with the peg and inserting it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1101, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the middle purple peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1102, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the top of the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the middle purple peg, moving downward toward the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle purple peg, adjusting fingers around the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring piece, which slides down the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal piece on the desktop."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal piece on the desktop, with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg of the wooden board by aligning and lowering it into place."}, {"label": "subtasks", "start_step": 1290, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the wooden stacking base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and inserts it downward to complete the mating."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the upper white hexagonal block on the dark table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the dark table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the right side of the wooden rack to approach the green block on the table."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green block and moves upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2429, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it downward onto the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block assembled on the white bottle."}], "episode_index": 3}
+{"source_uid": "70c84f057faea2da", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "goal", "start_step": 0, "end_step": 118, "id": "09520fb5-501d-4902-8658-1ec1fca1d8a1"}, {"label": "valid", "start_step": 0, "end_step": 2265, "id": "wZt9RFAhbY6umf_ffLoEj"}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "goal", "start_step": 119, "end_step": 248, "id": "7874ce7a-f9a9-4ae5-b44c-925807b8064f"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"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 operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 249, "end_step": 339, "id": "de0de7bc-5fc3-490d-a592-87a8b441e328"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 462, "id": "8824e510-f19e-408e-b362-d788a63f3e54"}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 463, "end_step": 562, "id": "99c4ef34-c65c-41b2-ab3c-e12f475ff04e"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 563, "end_step": 792, "id": "6ea8af2b-fb3f-4544-9dcb-00c54aa9ceec"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "goal", "start_step": 793, "end_step": 872, "id": "f488327a-4491-4522-9d07-e472cb471242"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "goal", "start_step": 873, "end_step": 1018, "id": "14ada7ed-dda9-413f-9aa8-bc39669631ae"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1019, "end_step": 1094, "id": "a76c3b7f-1113-469a-a5b1-37e9b525d2f2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "goal", "start_step": 1095, "end_step": 1206, "id": "20a993aa-6ddc-4bf8-9ea5-a85dfb5e5c2c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1207, "end_step": 1286, "id": "b6df6942-4341-4595-8d9e-14543ccc725c"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1287, "end_step": 1438, "id": "aaa5fd58-5651-4710-85f2-ea77aa935a01"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1439, "end_step": 1513, "id": "b6482b56-98c5-4419-a996-82c839b31217"}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1514, "end_step": 1616, "id": "27a5d9a3-8be9-489b-a9a9-f0c681e4229b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1617, "end_step": 1675, "id": "beceb354-f7a4-409b-90a9-1a933a1f0076"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "goal", "start_step": 1676, "end_step": 1805, "id": "38844713-a76e-490b-8690-d1ab766963c5"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "goal", "start_step": 1806, "end_step": 1879, "id": "b1a3a3bf-9db9-48b3-865f-b5bc9bb33126"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1880, "end_step": 2207, "id": "8b378863-c650-4b42-be50-89508bf6afac"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}, {"label": "home", "start_step": 2266, "end_step": 2292, "id": "HXY6fE0i_AE35sL-PGATt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block in front of the wooden base with purple rods."}, {"label": "subtasks", "start_step": 45, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip to stabilize the object."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block away from the black tabletop."}, {"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 operating table without moving. | Right hand: transport: Right hand transports the green block to the area above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches downward toward the white hex block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hex block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white annular block placed on the black tabletop."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the white annular block on the black tabletop."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 608, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple post on the wooden rack."}, {"label": "subtasks", "start_step": 675, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple post without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white block onto the top of the front-right purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the table surface until it completely leaves the support."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1199, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens fingers to release the white block from the grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: idle: Right hand remains empty near the wooden base without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the rightmost position of the wooden tray and releases the grip on the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and transports it to above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the top of the rightmost white post, then inserts the block onto the post."}, {"label": "subtasks", "start_step": 2048, "end_step": 2174, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green square block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the right side."}], "episode_index": 4}
+{"source_uid": "d60d15050a4f8004", "num_frames": 2182, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "bfe69d1b-7fd8-47c7-84e5-562ae9d6adf9"}, {"label": "valid", "start_step": 0, "end_step": 2157, "id": "Y26pOArayM3BxMn8JWwns"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "goal", "start_step": 161, "end_step": 312, "id": "505a8258-59f2-4f8f-a2d4-6d87f9ad5fa2"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "goal", "start_step": 313, "end_step": 400, "id": "221b6c43-cc97-459d-92b2-4680990072a3"}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "goal", "start_step": 401, "end_step": 534, "id": "4fbe6009-b481-4aa2-8997-d84fe55f1703"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "goal", "start_step": 535, "end_step": 604, "id": "81134f36-198e-45d7-9ba4-8201dbf5fa1f"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "goal", "start_step": 605, "end_step": 808, "id": "eb7cda13-a8c9-46aa-86df-a9a1455bd497"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "goal", "start_step": 809, "end_step": 878, "id": "ba3085a5-7920-47d9-8caa-40e47ca1e872"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "goal", "start_step": 879, "end_step": 1030, "id": "638b90a2-b917-4494-8c77-b57a1d27812f"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "goal", "start_step": 1031, "end_step": 1100, "id": "21d525a1-ef80-4af2-9e94-4af149cff699"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "goal", "start_step": 1101, "end_step": 1246, "id": "83c6b094-d9e4-4fd2-a3a3-3dd5db596fb0"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "goal", "start_step": 1247, "end_step": 1322, "id": "b1ac3748-bf34-4c98-8c24-31464394e079"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 1323, "end_step": 1444, "id": "39343787-7d9a-47f8-a6d4-02a94bad9b9f"}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "goal", "start_step": 1445, "end_step": 1516, "id": "cd245fd9-094c-4ce0-a8cd-243ea90d3416"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 1517, "end_step": 1704, "id": "4b870bc4-a760-4022-b77b-0485c401bf08"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "goal", "start_step": 1705, "end_step": 1780, "id": "6e2c681c-ece1-4367-8f94-370514b104d9"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "goal", "start_step": 1781, "end_step": 1898, "id": "3f29ed66-7a79-48fd-beb8-c6dcbc9c8ede"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "goal", "start_step": 1899, "end_step": 1960, "id": "ba348628-b710-45a6-9319-03215e4736cb"}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "66ce808b-8c53-45e1-9c5b-b8d0abf23978"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}, {"label": "home", "start_step": 2158, "end_step": 2181, "id": "am4LSp0ecn2K-xnVg3yAy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves with an open finger posture from the right initial position downward and toward the green hexagonal block placed on the table in front of the wooden peg stand, with slight wrist rotation to orient the hand toward the target."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table surface, refining contact points to form a grip without lifting the block from the table."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to position it directly above the target purple post on the wooden assembly board."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post, lowering the block to fit it onto the post until it rests on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the green hexagonal block onto the purple peg on the wooden base until the block rests on the base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface in front of the wooden base, fingers held open while approaching the target."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions to close around the block as the block remains on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the table surface and transports it upward to the position above the left purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the left purple rod and lowers the object to fit it onto the rod until it rests on the supporting green block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base and opens fingers to release the block, separating from the placed block."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward empty toward the green hexagonal nut resting on the black table surface, maintaining an open finger posture as it approaches the target."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table, closing fingers to wrap around the nut and adjust contact positions to form a grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut, until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the target rod."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, lowers the nut to fit onto the rod, and makes slight adjustments until the nut rests stably on the lower green and white block on the base."}, {"label": "subtasks", "start_step": 698, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple rod, maintaining a stable grip without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand lowers the grasped white hexagonal block to seat it on the purple peg of the wooden base, opening fingers to release grip once the block is stable on the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty downward and rightward away from the peg assembly, approaching the loose white hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the dark table surface near the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand carries the white hexagonal nut horizontally to position it directly above the targeted purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base and lowers it to fit the nut onto the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it onto the purple vertical peg, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward with an empty hand, approaching the green hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closes fingers and adjusts contact to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1148, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block while making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves empty from the area above the wooden block assembly base downward toward the front white hexagonal nut on the table surface, gradually approaching the target."}, {"label": "subtasks", "start_step": 1275, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal nut on the table, closes fingers around the nut and adjusts finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward and leftward to the position above the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, moves the block downward to fit it onto the rod and makes small positional adjustments to seat the block in place on the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand stays empty and moves downward and rightward from the area above the wooden assembly base to approach the left white hexagonal nut on the dark table surface, without touching the nut."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the table and closes its fingers to form a stable grasp, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand adjusts the white hexagonal block to align its hole with the purple rod, moving the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the white hexagonal cap placed on top of the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the right area of the table surface without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod with fine position adjustments."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: retreat: Right hand retreats from the top of the stacked white bottles with an empty hand, moving toward the lower right area of the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: reach: Right hand moves downward toward the small green cube on the table, fingers slightly open, approaching the target cube."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: grasp: Right hand closes fingers around the small green cube on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: lift_transport: Right hand lifts the gripped green cube off the table surface, then transports the cube upward and leftward to the position above the purple rod on the bottle stack."}, {"label": "subtasks", "start_step": 2010, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, adjusting the cube's orientation and position to fit the cube onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without moving, maintaining a static posture with no contact to any objects. | Right hand: release: Right hand opens fingers to release the green cube fitted on the purple rod, separating the hand from the cube surface."}], "episode_index": 5}
+{"source_uid": "068bddb7415693d6", "num_frames": 2303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "goal", "start_step": 0, "end_step": 188, "id": "c972918c-b56f-444f-bb76-90927e8c893a"}, {"label": "valid", "start_step": 0, "end_step": 2274, "id": "1vkPg-rbJE4TPHaQd84Kt"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 189, "end_step": 436, "id": "e0b07416-6ce2-44ab-8281-192e5ae769d6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 437, "end_step": 512, "id": "4b0e4a64-3127-44af-8f13-45aeace3975d"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 513, "end_step": 668, "id": "9e61d80a-ea2c-42a5-bfca-bf806c6390e9"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 669, "end_step": 752, "id": "fb04f035-8620-41bc-afc3-179312fd9f65"}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 878, "id": "d3592c79-3177-4352-8a79-5cd93b15e790"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 879, "end_step": 978, "id": "f0671562-2ae8-4a3b-9347-21c4b7c4c0b8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 979, "end_step": 1080, "id": "cc4264e1-2f35-4c51-96c2-5a02bb4cbcbf"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "goal", "start_step": 1081, "end_step": 1148, "id": "7c7e7336-6765-42c8-9489-7c5dfe1ad665"}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "goal", "start_step": 1149, "end_step": 1296, "id": "98db18f8-738f-4223-8624-84d59f6f417c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1297, "end_step": 1370, "id": "84345069-c20c-4a9a-b06f-15055e08efcb"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1371, "end_step": 1514, "id": "9a242000-272f-4632-89a8-e6343f1f025d"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1515, "end_step": 1590, "id": "3edf5ec3-4c76-4370-b146-cd4ef871b9bc"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1718, "id": "53e0d0b6-f948-445f-8abc-474f9bcbe5d0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 1719, "end_step": 1780, "id": "876c6dc0-77b7-4ddb-9a0b-a09aa77d4c9e"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "goal", "start_step": 1781, "end_step": 1900, "id": "2f2cbf87-645c-466f-bf2c-a9ab2eec7377"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "goal", "start_step": 1901, "end_step": 2040, "id": "553cfae8-ad9d-40ae-967c-da6f93ca892e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 2041, "end_step": 2210, "id": "0a9cb143-271c-438b-b341-c09cac147c16"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}, {"label": "home", "start_step": 2275, "end_step": 2302, "id": "ag9amdiQ1J8Rw1dWdKW9e"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with fingers extending and wrist rotating slightly inward. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the upper left green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper left green hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 112, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upper left green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table in front of the wooden base, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the left-front purple peg of the wooden base, lowering the block onto the peg to fit into the assembly."}, {"label": "subtasks", "start_step": 240, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left-front purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and forward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg on the wooden board, adjusting the part to fit properly onto the peg."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost peg of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the tabletop and transports it to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the middle purple peg by sliding it down to the wooden base, and releases the piece as fingers open."}, {"label": "subtasks", "start_step": 1080, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple rod of the wooden base, fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the assembly area while being empty."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal ring on the left side of the table, fingers slightly open."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table, fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and transports it upward and leftward to the second purple rod from the left on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the second purple rod from the left on the wooden base, adjusting the ring's position slightly."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal ring on the second purple rod from the left on the wooden base without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table surface without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the right side of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg on the wooden rack, lowering the part onto the peg to fit it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the rightmost purple rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block's hole with the rod and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cap down onto the purple peg of the rightmost bottle on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the rightmost bottle toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it leftward toward the bottle set on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the rightmost bottle and lowers it to fit onto the bottle."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and moving away from the block."}], "episode_index": 6}
+{"source_uid": "f3e90839fcc4cae2", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "87d5c9a3-df8b-49e2-8e04-377a94957ba1"}, {"label": "valid", "start_step": 0, "end_step": 1936, "id": "Klxcn-adG5v-kB_c_hNTH"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 113, "end_step": 230, "id": "d69c9178-35e2-456f-8bc6-e16cf6fdc552"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "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: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 231, "end_step": 282, "id": "470e4a19-0cf1-4d96-a4d5-116d57b3409a"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 283, "end_step": 380, "id": "d9c50ff7-f7d1-4284-b821-fa2dafe7f2db"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "goal", "start_step": 381, "end_step": 448, "id": "d333eeb4-0384-4f9c-ae1c-308bf3272832"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 449, "end_step": 594, "id": "7da90fb0-1159-4b53-8173-f72816391b27"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "goal", "start_step": 595, "end_step": 662, "id": "6692e499-9b72-4fc2-b41d-1c08b8d9d002"}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "goal", "start_step": 663, "end_step": 798, "id": "bd52ca5c-e29b-4d84-b175-6fc913ab900a"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 799, "end_step": 864, "id": "2e8d5005-8783-486c-8300-02983355dcdc"}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "goal", "start_step": 865, "end_step": 986, "id": "8addf7f0-11a7-4d30-9d7e-0f3932a4cd22"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "goal", "start_step": 987, "end_step": 1048, "id": "c731881c-858a-4704-9303-2c4b4824e53f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1049, "end_step": 1382, "id": "d949428f-8bf4-4d7d-ba80-92f955815a5a"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1383, "end_step": 1418, "id": "47fc9e65-0db7-44e4-8fcb-ff191ee6bf8c"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1419, "end_step": 1532, "id": "bc0e3994-2f71-4535-83a2-a38b98e657e4"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 1533, "end_step": 1602, "id": "6f17a78d-c149-4128-acc8-c5c90e75eb43"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1732, "id": "63b7fff1-cd08-426a-8720-a202eb49371a"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 1733, "end_step": 1788, "id": "c68f7525-980d-4aca-a47f-13c85c8b8cb8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1906, "id": "d404e2d3-bc38-4b18-971d-615173a746ee"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}, {"label": "home", "start_step": 1937, "end_step": 1968, "id": "X5Q692MRPZMfbVW1YYxiv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located in front of the wooden base on the tabletop."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without any movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 142, "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: mate: Right hand aligns the green block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it in place."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the wooden base peg and moves downward away from the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white hexagonal block to contact the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white hexagonal blocks on the purple rods of the wooden base with slight finger movements."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface without touching it."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes slight adjustments to the position of the white hexagonal block on the purple rod to stabilize the placement."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left pillar of the wooden peg base and releases the block."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop with fingers closing around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 794, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 832, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the white block on the wooden base with grasping fingers."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1341, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to adjust and secure its position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves empty away from the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod and adjusts its position to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, fingers close to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the white bottle with purple top."}, {"label": "subtasks", "start_step": 1838, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod of the white bottle and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down to secure it on the white bottle."}], "episode_index": 7}
+{"source_uid": "678d982095042918", "num_frames": 2293, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "6064e66d-9e8a-4ec5-8e48-344fdb5d36ff"}, {"label": "valid", "start_step": 0, "end_step": 2264, "id": "TiG_KerQb4MqOeyP8iyUf"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "e01f71c2-087f-42a9-afb6-eb4b8a3faa33"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "goal", "start_step": 235, "end_step": 304, "id": "01be88c4-4c0d-46b0-8f00-833104b09017"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "goal", "start_step": 305, "end_step": 424, "id": "a97e1277-007b-42aa-97e8-f09f7c9ada8c"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "goal", "start_step": 425, "end_step": 592, "id": "827d90bb-c3c2-481c-b3c6-2a5643c3c783"}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "goal", "start_step": 593, "end_step": 736, "id": "cf02d804-56b3-4e5a-aa98-91fe8132c581"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "goal", "start_step": 737, "end_step": 792, "id": "d887fe0b-a412-48d1-a049-00c1c288191e"}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "goal", "start_step": 793, "end_step": 1222, "id": "15d2ec0b-be71-4281-a045-84b3852c29fb"}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "goal", "start_step": 1223, "end_step": 1284, "id": "50195215-2932-4c1c-8ea7-436375578e49"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1414, "id": "de298a53-164f-4cc7-84f8-f9f6c309378d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "goal", "start_step": 1415, "end_step": 1540, "id": "c7a12d12-d867-4287-923c-85274c2929a0"}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "goal", "start_step": 1541, "end_step": 1680, "id": "ea5fa4ba-b22e-44c6-8ab8-97b3bc682f87"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1681, "end_step": 1750, "id": "30f8b718-798b-4920-ab14-85571562e226"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1751, "end_step": 1864, "id": "9f5bee45-11fd-469d-9088-290ffa6c271d"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "goal", "start_step": 1865, "end_step": 1922, "id": "ee79a589-c1ad-473c-83ec-adde95fa4f9d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "goal", "start_step": 1923, "end_step": 2050, "id": "8323e24d-9081-4aaa-af21-2bee074cbd3c"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "goal", "start_step": 2051, "end_step": 2114, "id": "e4e7f4cc-86a3-445b-93ba-6d36b3f32bf1"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "goal", "start_step": 2115, "end_step": 2230, "id": "1c1f9e89-b8ca-48b3-ab8b-58d5ebc01748"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}, {"label": "home", "start_step": 2265, "end_step": 2292, "id": "5ut8_PAL3TUu9rhVzqnTg"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty at the right initial position without obvious displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block in front of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, adjusting finger positions to form a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand moves vertically upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand moves horizontally while holding the lifted green hexagonal block, carrying the block to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and moves the block downward to nest the block onto the peg, creating an assembly fit."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to seat it fully on the wooden base, opening fingers to release the secured block in place."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the black table surface in front of the wooden peg base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting wrist and finger position to establish a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand grips the white hexagonal block and lifts it upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple post mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple post and moves the block downward to fit it onto the post."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the position above the wooden pegboard toward the white hexagonal nut placed on the black table surface, keeping fingers open before making contact with the nut."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting wrist position to initially wrap around the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand makes subtle finger adjustments, lifting the index finger slightly and repositioning it to refine the grip on the white hexagonal nut on the table."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward to position directly above the leftmost purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, fitting the nut onto the peg to establish assembly alignment."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the white hexagonal nut along the purple peg until it rests on the underlying white nut component on the wooden block."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg with no visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the top of the wooden assembly stand to approach the white hexagonal nut placed on the table in front of the stand."}, {"label": "subtasks", "start_step": 780, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal nut, the nut tilts and overturns on the table after contact, the hand opens fingers to release the nut and lifts upward."}, {"label": "subtasks", "start_step": 825, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: press: Right hand moves back to the top of the wooden assembly stand, presses down on the popped-up white post caps to push them back to their original positions."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward again from the top of the stand to approach the overturned white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts wrist angle and finger positions repeatedly, closes fingers to establish a stable grasp on the overturned white hexagonal nut."}, {"label": "subtasks", "start_step": 1072, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the corresponding purple post on the assembly stand."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the hole of the grasped white hexagonal nut with the top of the purple post, moves the nut downward to fit it onto the top of the post."}, {"label": "subtasks", "start_step": 1140, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the top of the purple post without any visible movement."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to slide down along the purple post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward with an empty palm toward the green hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut, making small adjustments of fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal nut to align its central hole with the purple rod, lowering it slightly to fit the nut onto the top of the rod."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place: Right hand lowers the green hexagonal nut along the purple rod until the nut rests stably on the underlying white cylindrical block on the assembly base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the green hexagonal nut on the table surface, with fingers slightly open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1440, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal nut on the table, closing and repositioning fingers to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder from the dark table surface and moves it upward to a position above the green peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the green peg, lowers the cylinder and makes small positional adjustments to fit it securely onto the peg attached to the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to firmly grasp the white hexagonal nut on the table, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moving it upward and left to position it directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod, moving the nut downward to fit it onto the rod until the nut rests on the wooden rack surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: release: Right hand opens fingers to release the purple rod standing on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward from the purple rod toward the white hexagonal nut on the black table surface with an empty hand."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight grip adjustments to establish a stable hold on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut horizontally toward the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, then lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand holds the white bottle with a light purple cap, moves downward to seat it in the empty slot on the wooden rack, and opens fingers to release the bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers around the green cube to establish a firm grasp."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube off the table, and moves it upward and leftward to position it above the capped white bottle on the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the table without obvious movement. | Right hand: place_release: Right hand moves the green cube downward to set it on top of the white bottle, and opens fingers to release the cube."}], "episode_index": 8}
+{"source_uid": "902bc458c9698a87", "num_frames": 2235, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "be1e0720-0d12-4206-9716-3e7168fc15e0"}, {"label": "valid", "start_step": 0, "end_step": 2205, "id": "mF5AJL1oT9MtVzY4WTGV5"}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "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 green block from the black table surface."}, {"label": "goal", "start_step": 113, "end_step": 240, "id": "e69fc536-ad0a-4d30-81a3-13e13d9c4586"}, {"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 green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 241, "end_step": 376, "id": "58600485-3676-44f2-9a3e-8c64bc73b80f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "goal", "start_step": 377, "end_step": 534, "id": "3205ef15-ced4-4d91-9590-c1e1b0a99e3d"}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 535, "end_step": 600, "id": "0b4ccbe2-9369-4c6f-b069-90189b0e07cf"}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 601, "end_step": 772, "id": "73afbe5d-4c5d-4be5-9aa7-50e284bfaa6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 773, "end_step": 858, "id": "1bb166d0-880e-48c5-8dc6-44710a6b9856"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 859, "end_step": 976, "id": "119165fd-188b-454f-823a-01ec8256fb46"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "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: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "goal", "start_step": 977, "end_step": 1044, "id": "49302668-30cb-4038-9b3c-fd43e85c5bb9"}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "d9fb85b8-49ed-4ed1-9d49-c3d038a37385"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1189, "end_step": 1264, "id": "84a5c189-c9d4-4ee4-bf3e-7202f52aace4"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "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 fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1265, "end_step": 1388, "id": "3a8d58e4-365c-49bd-9f99-30c45cd3335c"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "goal", "start_step": 1389, "end_step": 1468, "id": "1c6d7d60-9189-4933-9476-b42e6d94b021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "goal", "start_step": 1469, "end_step": 1746, "id": "842af184-8452-4c42-b184-348b88d92cf8"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "goal", "start_step": 1747, "end_step": 1816, "id": "ffe41342-3b20-4d4f-80fe-762611fe1f0b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1817, "end_step": 1942, "id": "e83f3815-6bfc-4745-a579-ad799e7e4790"}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1943, "end_step": 2012, "id": "f97ee7bd-e5dd-4833-96c5-319e75669f9f"}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "goal", "start_step": 2013, "end_step": 2162, "id": "cba7599b-396a-4b20-b78f-5708fb1d0536"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}, {"label": "home", "start_step": 2206, "end_step": 2234, "id": "0DPdNjQGhfYp69EoU9tbO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 45, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 105, "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 green block from 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 green block towards the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple peg on the wooden base, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white hexagonal block off the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block downward toward the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it towards the leftmost purple rod on the base."}, {"label": "subtasks", "start_step": 412, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down along the rod to the target position."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white ring on the black tabletop."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 968, "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: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg board area toward the green block placed on the table."}, {"label": "subtasks", "start_step": 1012, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "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 green block upward toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the wooden board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "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 fingers to form a stable grip on the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the middle peg on the wooden tray."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by fitting the rod into the block's hole and lowering the block down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1724, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base downward."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00042", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1934, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hollow block with the purple rod and places it onto the supporting position of the wooden rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the green square block on the table surface, not yet contacting the block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green square block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle with a purple protrusion on the wooden tray."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple protrusion on the top of the target white bottle."}, {"label": "subtasks", "start_step": 2078, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block down onto the white bottle and then releases its fingers from the block."}], "episode_index": 9}
+{"source_uid": "8f7d577021d739a4", "num_frames": 1942, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 134, "id": "98640772-d61e-47d7-a12e-4c6729c56df7"}, {"label": "valid", "start_step": 0, "end_step": 1916, "id": "ahzoMCuXUxM2gjFo1rKrS"}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 135, "end_step": 258, "id": "ef6b1e69-0f93-481d-8dfa-1e919a98b0b3"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "goal", "start_step": 259, "end_step": 324, "id": "5b12b8ca-2136-462f-bb01-1ce78852a350"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 325, "end_step": 464, "id": "8c7e08a7-4d07-4998-abb6-92e19491dfec"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 465, "end_step": 528, "id": "5803c679-6c81-4018-9f95-25d8f7747bc2"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 529, "end_step": 646, "id": "255d0815-ccf4-4bbc-ac6a-1c71ce6ed2d5"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "goal", "start_step": 647, "end_step": 738, "id": "b06b0e87-01f4-4c43-8345-5516976cb227"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 739, "end_step": 902, "id": "a584861e-99dd-4134-a33a-f8e53e5e511c"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 903, "end_step": 974, "id": "90ab0fc4-688c-4d62-bc6d-454298a05df1"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 975, "end_step": 1086, "id": "3c56eb2a-52f7-4e68-a8b8-9ac5a536916c"}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "goal", "start_step": 1087, "end_step": 1144, "id": "bac77999-4eea-4bdf-8bf5-650d2ce82e44"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "goal", "start_step": 1145, "end_step": 1282, "id": "28ccf642-537b-4c3e-b08e-68a5e4945e1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1283, "end_step": 1366, "id": "89316112-d266-462b-9039-dda050ee6cf6"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "goal", "start_step": 1367, "end_step": 1470, "id": "95cbf710-8fd6-4956-9b39-2ec4dc215beb"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "goal", "start_step": 1471, "end_step": 1556, "id": "1cb91cd7-1506-466c-87f0-024466375876"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1557, "end_step": 1690, "id": "2bab7432-d050-49c3-9187-7b8df1207fc6"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "goal", "start_step": 1691, "end_step": 1770, "id": "df63d338-afd8-4394-820f-d8787c585667"}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1874, "id": "52236148-8d91-4ef1-b78d-5b46092bb998"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 1917, "end_step": 1941, "id": "8MxUwwO1eO34NC4rXK0G1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the frame toward the green hexagonal part in front of the wooden base, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal part, then closes fingers and adjusts grip while the part remains on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green cubic block with the leftmost purple peg and presses it down along the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the left purple peg and releases its grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the top of the left purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left purple peg by pushing it downward to the base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost pillar of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table below the wooden base, moving downward."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the leftmost pillar of the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost pillar of the wooden base by aligning and fitting it downward."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost pillar of the wooden base without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the left purple peg of the wooden base, with fingers gradually opening from closed position."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base, keeping fingers open."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to above the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden pegboard by lowering it down the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases it with fingers opening."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring from the table and moves it toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring with the middle purple peg, lowering it along the peg until it rests on the lower white ring."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the peg while reaching downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table with fingers closing around the object."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and moves it upward toward the assembly pegs on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the target vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal ring on the vertical peg without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table near the wooden base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to adjust the grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it leftward and upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple vertical rod, lowering the piece gradually to fit it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white perforated block down along the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the hole of the white cylinder on the wooden base and releases the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward toward the bottle array on the wooden tray."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with a purple stem on the wooden tray and fits it onto the bottle."}], "episode_index": 10}
+{"source_uid": "eefd9323d36fc84e", "num_frames": 2070, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "18a5ddee-3d6b-4af5-82c7-1acdf001edda"}, {"label": "valid", "start_step": 0, "end_step": 2034, "id": "wVGzijfBhmc9qgI4RlRPW"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "goal", "start_step": 109, "end_step": 272, "id": "e2704f44-f690-4b68-9300-bd213e6fb024"}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "goal", "start_step": 273, "end_step": 328, "id": "8e901b33-be46-45db-894f-b0077ebe1e66"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "goal", "start_step": 329, "end_step": 496, "id": "eed91713-d3a0-4dda-a0c1-3d3e0cb71c4f"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "goal", "start_step": 497, "end_step": 558, "id": "c5f5a4f1-d0f3-4509-91c9-b5547a33086a"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "goal", "start_step": 559, "end_step": 696, "id": "f5a69d8d-a0f0-44a8-a95e-846d61cba43f"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 697, "end_step": 762, "id": "57ca6401-40f0-4b64-b794-6553d76bbfb6"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 886, "id": "8e323531-3a2c-4a4e-92b0-ab3f142d209f"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 887, "end_step": 938, "id": "0e06391d-bbe2-437e-bc85-f9942f63393c"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 939, "end_step": 1052, "id": "d6402ef0-8590-4101-9a2a-2c3c038aa28b"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "goal", "start_step": 1053, "end_step": 1194, "id": "becb67f6-a1cd-4717-8fc2-4b3f0e302f98"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1195, "end_step": 1338, "id": "5eeda75c-3267-462f-a36b-702440a3a414"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "goal", "start_step": 1339, "end_step": 1408, "id": "ef377df3-b942-40b7-94b5-b22f0e39bf85"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "goal", "start_step": 1409, "end_step": 1546, "id": "e7fd5ca7-1eea-4406-8932-1bce0bb7365d"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "goal", "start_step": 1547, "end_step": 1602, "id": "928ce6cb-6642-4f3f-aeb6-10938bf0a273"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "goal", "start_step": 1603, "end_step": 1748, "id": "2c36e989-3b2a-4b9a-8673-5cee8c33e8f4"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "goal", "start_step": 1749, "end_step": 1802, "id": "7c72f87a-a167-4ed2-b842-d8ddadc457bf"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 1803, "end_step": 2002, "id": "feb08c7b-ae34-478b-a897-f7ee85f93330"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}, {"label": "home", "start_step": 2035, "end_step": 2069, "id": "LZHduQ2l47e6_qPHCwW3a"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal nut near the wooden peg rack, with fingers kept open, approaching the target object."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal nut on the table, adjusting finger contact to establish a grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 150, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers the block to fit it onto the peg until it rests on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block that is fitted onto the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the front upper area of the wooden block stand toward the white hexagonal nut on the front-left table surface in front of the stand, with fingers kept open."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to form a stable grasp while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand holds the grasped white hexagonal nut, lifting it completely off the table surface and moving it upward to the position above the leftmost purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 375, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand holds the white hexagonal nut, aligning it with the leftmost purple rod on the wooden stand and moving the nut downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple rod, separating the hand from the nut surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table surface, with fingers held open."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward to position above the purple peg on the wooden block set."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, moving the block downward to fit it onto the peg with slight position adjustments for alignment."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block set toward the white hexagonal nut on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod and lowers the nut to fit it onto the rod, completing the assembly engagement."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block placed on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 982, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and lowers the block to fit securely onto the peg of the wooden stand."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the held white cylindrical block onto the purple vertical rod on the wooden assembly base, fingers opening to release the block as it becomes supported by the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the table near the green block, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface, fingers closing and making small repeated adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position it directly above the purple vertical post on the wooden assembly base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical post and lowers it to fit the nut securely onto the post."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the stacked blocks to approach the white hollow cylinder placed on the table near the wooden base, fingers held slightly open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hollow cylinder on the table to form a stable grasp on the object, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hollow cylinder completely off the table surface and transports it upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the white cylinder with the purple vertical rod, slides the cylinder down along the rod, and sets the cylinder down to rest on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white cylinder resting on the wooden base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: retreat: Right hand moves downward and rightward away from the placed white cylinder, remaining empty."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the upper area near the purple rod toward the white hexagonal nut resting on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip while the nut remains on the table."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward and leftward to position it directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is fitted onto the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and moves it upward and leftward to position it directly above the purple rod on the stacked white blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod, lowers the cube to nest it onto the rod, and makes small positional adjustments to ensure proper fitting."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the green cube, which stays fitted on the purple rod."}], "episode_index": 11}
+{"source_uid": "a99e81f59b798961", "num_frames": 2101, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "goal", "start_step": 0, "end_step": 116, "id": "c4d32597-3b6a-4808-8c92-68a8a49853b5"}, {"label": "valid", "start_step": 0, "end_step": 2075, "id": "I6lSL14v3W7OCT61C1PFx"}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "goal", "start_step": 117, "end_step": 234, "id": "38ecd9b5-393b-4a84-981d-53689796ff63"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "goal", "start_step": 235, "end_step": 380, "id": "c925e375-735a-4600-9472-866cc11586a6"}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 502, "id": "d985cdfd-4591-4584-885d-c4c066c5bed7"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "goal", "start_step": 503, "end_step": 589, "id": "8091bcaa-e9c6-4d01-b771-ce1f32d47482"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "goal", "start_step": 590, "end_step": 731, "id": "db52ca9d-6039-45b6-8ff2-6208c5bfe3c0"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "goal", "start_step": 732, "end_step": 810, "id": "dfb14392-dd81-43db-9529-264bb04a3c97"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "goal", "start_step": 811, "end_step": 976, "id": "d9c86510-6b22-4943-bfba-30997375c6ac"}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "goal", "start_step": 977, "end_step": 1034, "id": "f1bab238-3443-4229-b1eb-206ba4881447"}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1035, "end_step": 1144, "id": "46f2c32c-f0bb-4dca-8db7-b759091bf78d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1206, "id": "9a437f7b-16d0-4db0-a331-9fb6f38c2a5e"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "goal", "start_step": 1207, "end_step": 1326, "id": "8113ec26-6f2b-4907-b56b-99873ceed6fb"}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "goal", "start_step": 1327, "end_step": 1388, "id": "91f4211c-9bbc-4fc9-82b3-50e362c871cc"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1389, "end_step": 1486, "id": "603bf164-518e-4fdb-940e-a88235fea963"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "goal", "start_step": 1487, "end_step": 1556, "id": "c068bd98-7b90-487f-b93d-e20a1e5e79fc"}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1676, "id": "c2f1116d-7254-4eb1-9ee2-e4e6cda08f41"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "goal", "start_step": 1677, "end_step": 1786, "id": "6fd96cd2-57d0-461c-97e8-fc4298025d2e"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1787, "end_step": 1998, "id": "ee541ae7-1141-4a57-97e7-ce869130833b"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}, {"label": "home", "start_step": 2076, "end_step": 2100, "id": "KKR9woD3nfYd0O3N2S4BW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves from its initial raised position on the right side of the frame toward the green hexagonal nut located to the front-left of the wooden peg board, adjusting finger posture during movement to approach the target without establishing stable contact."}, {"label": "subtasks", "start_step": 90, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut in front-left of the wooden peg board, adjusting finger contact positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand moves the held green hexagonal block horizontally to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the green hexagonal block with the target purple peg and lowers it to fit onto the peg until the block rests on the pegboard base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table, remaining empty before making contact with the nut."}, {"label": "subtasks", "start_step": 262, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusts finger and wrist positions to right the tilted nut, and gradually closes fingers to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the upright white hexagonal nut on the table steadily, with no visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut placed on the black table surface to establish a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, then moves it upward to position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple rod, then lowers the nut to fit onto the rod while making slight positional adjustments for correct alignment."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut on the leftmost purple rod of the wooden assembly stand downward until it sits level with the other two white nuts on adjacent rods."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward from the assembly stand toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table, making small adjustments to finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface, moving it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the target purple peg on the wooden rack, fitting the block onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand moves the white hexagonal block downward along the purple peg, positioning it onto the supporting stacked block fixed on the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns the block with a purple peg on the wooden assembly base, nests the block onto the peg, and opens fingers to release the secured block."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp_lift: Right hand closes fingers to grasp the target white hexagonal block on the table, lifting the block a small distance off the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it toward the purple cylindrical peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the top of the purple peg and lowers it to start fitting onto the peg."}, {"label": "subtasks", "start_step": 878, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the partially fitted white hexagonal nut on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to fully seat it on the peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fully seated white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: retreat: Right hand moves backward and upward away from the assembled white hexagonal nut with no object held."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward with an open hand toward the green hexagonal block placed on the black table surface in front of the wooden pegboard."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface, moving it upward and leftward to position it directly above the purple vertical peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moving the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: press: Right hand presses the white block on the purple rod downward until it is level with adjacent blocks on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward away from the block assembly, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to securely hold the nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides it down to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without noticeable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the grasped white hexagonal block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: hold: Right hand holds the purple cylindrical object mounted on the wooden block base without moving."}, {"label": "subtasks", "start_step": 1508, "end_step": 1551, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object and moves empty toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand closes fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it to the position above the purple cylindrical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple cylindrical rod and moves the block down to nest onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: release: Right hand releases the top of the white capped bottle mounted on the wooden rack, fingers opening to break contact with the bottle."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green cubic block, adjusting finger positions to close around the block while forming a grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: lift: Right hand holds the green square block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: transport: Right hand carries the lifted green square block toward the wooden block rack, positioning it above the purple peg on the rack."}, {"label": "subtasks", "start_step": 1838, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: mate: Right hand adjusts the green square block to align its central hole with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the frame, with no observable movement or contact with any objects on the table. | Right hand: place: Right hand lowers the green square block down along the purple peg until it rests stably on the top surface of the white block beneath it."}], "episode_index": 12}
+{"source_uid": "e17b1c47813f23ec", "num_frames": 2545, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "3418e3d8-add4-49fa-b606-657bd9935764"}, {"label": "valid", "start_step": 0, "end_step": 2514, "id": "OAl50H_ZFGyoN9J8H6gN3"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 153, "end_step": 410, "id": "67f0ec28-d53d-4413-b600-875c8d364db0"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 411, "end_step": 562, "id": "ceb6b665-9035-4b78-abee-7ba7c1442219"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 563, "end_step": 670, "id": "282f7de0-8cd7-4350-96f6-07e1e3588e57"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "goal", "start_step": 671, "end_step": 860, "id": "705b117e-8991-47d9-afcc-a0a3a8b10892"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 861, "end_step": 990, "id": "30cc8dfb-5898-420e-a8e9-4550be32263a"}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 991, "end_step": 1056, "id": "7b137b6b-06b6-4749-a208-4cf22ee30868"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 1057, "end_step": 1190, "id": "b08797aa-802c-4ed1-93f2-1d19fd5c81d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "goal", "start_step": 1191, "end_step": 1262, "id": "f9b26589-f925-413f-9f1c-11322bd2c76c"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1263, "end_step": 1416, "id": "de8f0382-304c-403e-a03c-60848974a9e9"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1417, "end_step": 1472, "id": "2894e0f8-0d71-4c7a-85d5-d3f04004d619"}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1473, "end_step": 1810, "id": "ebee2a3e-12b9-4cc8-98d4-5507dc925fe2"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1928, "id": "5f4edd5c-7997-487d-8b9a-d3372edb174f"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1929, "end_step": 2062, "id": "d6734d99-2954-426c-b5b5-21d360ad8924"}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "goal", "start_step": 2063, "end_step": 2140, "id": "337c7105-dd6f-49e9-a7f9-15be080f7411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2250, "id": "6e923a09-3ba5-460a-9840-ca4ef704f901"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2251, "end_step": 2322, "id": "862b9c16-256f-409a-8f42-3c088082c6b0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "goal", "start_step": 2323, "end_step": 2478, "id": "f8bfe83b-a109-4e56-ace7-27756f873292"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}, {"label": "home", "start_step": 2515, "end_step": 2544, "id": "3rEPPNpGqre2OZtHAyuvA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located below the wooden rack on the table."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg, making slight position adjustments to fit the block onto the peg completely."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the wooden base and transports it above the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the white hexagonal block on the table for assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it to the upper area of the wooden bracket with purple rods."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple rod on the wooden bracket and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal nut down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the purple rod fixed on the green base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal sleeve placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal sleeve on the black tabletop, with slight adjustments to the grip position."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand holds the white hexagonal sleeve and moves it slightly on the black tabletop to adjust its position."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden base, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg on the wooden base by fitting it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the wooden base with rods."}, {"label": "subtasks", "start_step": 1515, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers again to adjust the position of the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the adjusted white hexagonal block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand moves upwards away from the block assembly area."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1949, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2031, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base to fit it onto the rod."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg on the wooden base and releases its grip on the ring."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2151, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the top of the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp_lift: Right hand grasps the green block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand carries the green block towards the front-right white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the green block with the front-right white cylinder and fits it onto the cylinder."}], "episode_index": 13}
+{"source_uid": "c225bf0d2c37c072", "num_frames": 1815, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 100, "id": "f0c855d0-0775-48b3-9db0-eb9a921c8b14"}, {"label": "valid", "start_step": 0, "end_step": 1789, "id": "7Oq6a2sO9OdeRlbcA65lk"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 101, "end_step": 232, "id": "5c4f64f8-bf70-4fae-b27a-03b3e1594cf4"}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "goal", "start_step": 233, "end_step": 288, "id": "0780092e-2166-41f7-a8e0-7bd56475b0fa"}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 289, "end_step": 422, "id": "71a5ddc3-90d8-4094-b4f7-c36514ae31f4"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 423, "end_step": 470, "id": "e60bef70-7abd-4f95-ba3f-1317fcf21211"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "goal", "start_step": 471, "end_step": 604, "id": "6577f6aa-f2f5-4911-a9f7-7a23d838927f"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 605, "end_step": 660, "id": "fcfcde04-b4fa-4181-aaa7-2d888c3c0f6f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "goal", "start_step": 661, "end_step": 830, "id": "c8bfc0c5-f97d-4d7e-a9eb-8ecab6118565"}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "goal", "start_step": 831, "end_step": 884, "id": "954e32dd-9562-40e7-a2d9-0ef8163f47fd"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 885, "end_step": 1026, "id": "8101c582-c6c2-4420-8e70-ed60b535bd82"}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1027, "end_step": 1080, "id": "747fe9bf-6a3b-4aa0-a0f3-0ed1c595e68c"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "goal", "start_step": 1081, "end_step": 1190, "id": "fd07c187-7db0-474c-9c96-079b0f50594f"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "goal", "start_step": 1191, "end_step": 1254, "id": "8a295e32-efe2-400f-ad04-5b911d7cf6db"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1255, "end_step": 1370, "id": "da89d9d2-c84a-4d4b-93d9-fa5fcc2a76b8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "goal", "start_step": 1371, "end_step": 1418, "id": "f78f800c-97a4-48c8-a7b4-4883157f9cba"}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "goal", "start_step": 1419, "end_step": 1522, "id": "b5ab06d5-ba64-4757-af8b-842b25e3e9f0"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "goal", "start_step": 1523, "end_step": 1586, "id": "078e03db-f6b9-496b-bfe9-c596141ca168"}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1587, "end_step": 1724, "id": "af326aaa-ebce-4e79-98d3-4b647c742266"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}, {"label": "home", "start_step": 1790, "end_step": 1814, "id": "9wN0pf4u-P40m6WcF8UHy"}], "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 operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and lowers it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the target purple peg of the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_reach: Right hand releases the white block on the wooden rack, then moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting for stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the target purple pillar on the wooden rack."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple pillar, adjusting its position to fit properly."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block upward towards the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the green hexagonal block toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white ring onto the rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1207, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal ring onto the target rod on the wooden base and adjusts its position to stabilize."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach_grasp: Right hand reaches toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand fits the green square block onto the top of the rightmost white block on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green square block assembled on the white block."}], "episode_index": 14}
+{"source_uid": "e4354a1737252aee", "num_frames": 1932, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "bfd0accf-0645-4317-970f-8d7bebdecbd9"}, {"label": "valid", "start_step": 0, "end_step": 1899, "id": "TRq6C9f6HSmuuGgr20gUD"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "c8a98558-456f-4fb7-92fa-f62baa20daa4"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 235, "end_step": 306, "id": "46a6d2b4-8b86-42c3-9cb8-268341d704b3"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "8df3dee5-d6e5-40b2-933a-1b4ad5352862"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 463, "end_step": 538, "id": "17317d18-3447-4b77-9fe5-61e171460ba5"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 539, "end_step": 648, "id": "d72c2910-1234-46a4-af04-6899a676d99d"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 716, "id": "426f82cb-f97f-4987-aa6e-abc2bc98d5c1"}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 717, "end_step": 916, "id": "dfa7a492-fb18-4c38-966e-41937a7f3b18"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "goal", "start_step": 917, "end_step": 986, "id": "2f015f11-39d9-46ea-990b-fb46c3df4cd8"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "goal", "start_step": 987, "end_step": 1132, "id": "53a0c5f1-b685-42b2-bfb6-2acfda68dfc7"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1133, "end_step": 1184, "id": "bf00d614-4e7d-45c9-b398-2f2d01e46ed7"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1185, "end_step": 1294, "id": "ee545787-ce6e-44e1-b15f-cdb9e7ab32ec"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "goal", "start_step": 1295, "end_step": 1354, "id": "ddc49047-e84f-4699-9a52-4158eded5d29"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1355, "end_step": 1484, "id": "75faff01-9b7e-4c82-a14b-a2023324b4e0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1485, "end_step": 1556, "id": "cb84ffb4-4976-4a27-b1b3-9504824538e0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1557, "end_step": 1670, "id": "57ed1b71-c52e-4906-9a5a-29a2e2f03242"}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "goal", "start_step": 1671, "end_step": 1736, "id": "abfc4a57-7a6d-42f0-b4c6-a59657e3a7ae"}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "goal", "start_step": 1737, "end_step": 1856, "id": "ee619492-bb19-4767-8c4c-e13017623d32"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}, {"label": "home", "start_step": 1900, "end_step": 1931, "id": "yB0E6iRyIcR-uRrv62F8W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table to approach the leftmost green hexagonal block on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost peg of the wooden rack, lowering the block to fit around the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the leftmost purple peg of the peg board."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost purple peg of the peg board by aligning and fitting it down."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost purple peg of the peg board without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the left front purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow part from the table and transports it to the position above the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hollow part onto the leftmost purple rod of the rack by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple rod of the rack without moving."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal part on the leftmost purple rod and moves slightly upward away from the part."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper right peg area toward the white hexagonal ring on the table near the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it upward to the area above the middle purple peg."}, {"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 table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg and fits the ring onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal ring downward along the middle purple peg until the ring rests on the wooden base and is supported."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the peg of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table and adjusts the grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green hexagonal block upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal block onto the target peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the stacked cylindrical blocks toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, then moves upward and leftward to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1418, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top right of the block set."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around its sides."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward toward the block set."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple-topped peg of the block set by pressing it downward."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple-topped peg without moving."}], "episode_index": 15}
+{"source_uid": "4292adaba504158c", "num_frames": 2963, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "1b039b2e-faca-4503-a13b-46ac0ff71204"}, {"label": "valid", "start_step": 0, "end_step": 2932, "id": "Qgy-zkYScKUtVBUsTqzAU"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "goal", "start_step": 131, "end_step": 282, "id": "6ef4eef4-9eb1-4005-b617-6fdd1ee5ecd0"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "goal", "start_step": 283, "end_step": 364, "id": "1ee6739f-b83e-462b-81aa-8436ef943b72"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "goal", "start_step": 365, "end_step": 504, "id": "db253cc7-e639-4eef-b045-04c89fb0c9d2"}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "goal", "start_step": 505, "end_step": 564, "id": "61536499-f80a-42ad-900a-bf3b04f41ac9"}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "goal", "start_step": 565, "end_step": 704, "id": "5c4356c5-b509-4672-b2f9-8e8d892b3775"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 1086, "id": "8033057e-b29c-4741-8a98-13d8a1f43bab"}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "goal", "start_step": 1087, "end_step": 1230, "id": "0418c86d-99ed-46d5-9382-10dcb93e4701"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "goal", "start_step": 1231, "end_step": 1294, "id": "fccd1ef9-8b99-4763-b878-44f6cc1a35e3"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1295, "end_step": 1424, "id": "7e80f14c-d98d-4543-acba-33457c235c35"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "goal", "start_step": 1425, "end_step": 1494, "id": "f1f8f5c2-b022-4ebe-b7d0-903d5be1aefb"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "goal", "start_step": 1495, "end_step": 1628, "id": "e43bbd6c-1a07-43c1-b22a-abc5dfbbdf1f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 1629, "end_step": 1702, "id": "bc5b67bd-c695-4a77-8e2b-580af8eb89f7"}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "goal", "start_step": 1703, "end_step": 1866, "id": "03dcf17b-e99a-49bc-8bf6-32a021957304"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "goal", "start_step": 1867, "end_step": 1930, "id": "e9652ccd-62f4-4c06-8e7a-2140e9e7bee6"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 1931, "end_step": 2056, "id": "ff05c3ab-f66c-450c-b44d-d351599087ea"}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "goal", "start_step": 2057, "end_step": 2114, "id": "6005ed19-03d7-4ff6-8792-611a674f5798"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2922, "id": "db72eeb0-b39a-4c42-9c0b-89ad1c1fc39b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}, {"label": "goal", "start_step": 2923, "end_step": 2924, "id": "cfe0becd-a6d9-45f1-b8d8-25a8b17c660c"}, {"label": "home", "start_step": 2933, "end_step": 2962, "id": "U5EMLS9RG5WKgcFzj618A"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves from its initial raised position on the right side downward and leftward toward the green hexagonal nut near the wooden block, with fingers extended during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand positions and adjusts its fingers around the target green hexagonal nut on the table, closing fingers to make contact with the nut."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal ring off the black table surface, transporting it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal ring with the purple post on the wooden base, making slight positional adjustments to fit the ring onto the post."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the green hexagonal ring seated on the purple post without observable movement or adjustment."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand moves the green hexagonal block downward along the purple rod to set it on the wooden base, releasing fingers to separate from the block."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 322, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table and adjusts finger positions to close around the nut, with visible finger movements to secure the grip."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal nut forward and upward to the area above the wooden assembly block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the target purple post, fitting the nut onto the post tip to establish assembly alignment."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal nut along the purple post until the nut rests stably on the previously mounted white nut below."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold_release: Right hand holds the white hexagonal block on the front peg of the wooden base, releases the block with fingers opening."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal nut placed on the black table surface, closes fingers to securely grasp the nut."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves the nut upward to position above the unoccupied purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the unoccupied purple peg, lowers the nut to fit onto the peg for assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward from the assembly post area toward the loose white hexagonal nut on the table near the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand repeatedly adjusts finger positions and contact points around the loose white hexagonal nut on the table to form a stable grasp, knocking the nut over during the adjustment process."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward along the peg toward the green base of the rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal nut fully onto the green rack base for stable support, opens fingers to release the nut, and moves slightly upward away from the nut."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal nut on the black table surface with fingers open."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal nut upward until the nut is completely off the table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal nut upward to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the held white hexagonal nut onto the top of the rightmost purple peg on the wooden base until the nut is stably supported by the peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward across the table surface toward the loose white hexagonal nut resting on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the black table to establish a firm grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and transports it upward toward the rightmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the top of the empty purple peg and lowers it to fit onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand releases the white hexagonal nut seated on the top of the purple rod, fingers opening to fully separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the black table surface adjacent to the wooden base, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to position directly above the purple rod on the block rack."}, {"label": "subtasks", "start_step": 1755, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, establishing the nested assembly relationship."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical cap placed on the purple rod, separating from the cap."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface, with no contact with the nut."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating it from the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut horizontally toward the purple rod on the wooden base, positioning the nut above the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the side of the wooden block assembly steadily, with no visible movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: release_retreat: Left hand opens fingers to release the leftmost green-and-white cylindrical block and moves slightly backward away from the block. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, moving the nut downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal nut on the purple rod, separating fingers from the nut."}, {"label": "subtasks", "start_step": 2055, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: reach: Right hand moves down and right from its initial position near the bottle cluster toward the green square block on the table, with fingers slightly open as it approaches the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: grasp: Right hand closes fingers around the green square block on the table, forming a stable grip on the block while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface, moving the block up and left to transport it to the position above the wooden block holder."}, {"label": "subtasks", "start_step": 2168, "end_step": 2887, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: mate: Right hand holds the green block, making small positional adjustments and slight rotations to align the block's central hole with the target white post on the holder."}, {"label": "subtasks", "start_step": 2888, "end_step": 2917, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: place_release: Right hand lowers the aligned green block down onto the target white post until the block is supported by the post, fingers opening to release the block from grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden base without moving. | Right hand: retreat: Right hand moves up and right away from the assembled green block, retreating from the operation area with an empty hand."}], "episode_index": 16}
+{"source_uid": "fc66befb47b45a2c", "num_frames": 1971, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 120, "id": "985185f6-b872-4cc8-b19d-88f761a34ed6"}, {"label": "valid", "start_step": 0, "end_step": 1943, "id": "QH1YyB6eMy9rlg0ML0M8C"}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "goal", "start_step": 121, "end_step": 220, "id": "9d3c1088-7d5b-4510-adf6-46ef46772c98"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "goal", "start_step": 221, "end_step": 282, "id": "3d403445-1c0b-4ff5-85fe-6a8f1168828c"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "goal", "start_step": 283, "end_step": 486, "id": "3e2165d4-fa23-4dc9-84b9-12198a527fd1"}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 487, "end_step": 562, "id": "185cc538-28a5-4a95-8c63-7b445ef8d7a8"}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 563, "end_step": 716, "id": "5d11f3e8-1a23-40e8-956a-417d70cafce3"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "goal", "start_step": 717, "end_step": 772, "id": "93e86424-080a-4ad0-b09e-88f3218d31cd"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 773, "end_step": 906, "id": "fa17989e-8a83-43e8-ad7e-053d028f3560"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 964, "id": "1a95822a-8702-4d0f-8aa4-d52a4b87385c"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "goal", "start_step": 965, "end_step": 1070, "id": "719be375-ad19-4abe-bb85-6ee6b3b69bf3"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1071, "end_step": 1158, "id": "942035c4-13ec-4ad5-9bae-1ecb68363c54"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1360, "id": "ffb21f7a-63ff-4e17-9d2d-c2bc89739278"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "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: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "goal", "start_step": 1361, "end_step": 1410, "id": "850665c3-d5d7-4fb7-befe-2699c9f16c2f"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1516, "id": "9d7bafa1-8b52-4b94-8e0c-5a325fb608c6"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "goal", "start_step": 1517, "end_step": 1574, "id": "c8655ffb-6d42-4f17-8e39-6d22b777bb6a"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1575, "end_step": 1700, "id": "566a8033-38b3-4ec6-b2d6-72d148f3105e"}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "goal", "start_step": 1701, "end_step": 1742, "id": "3b873d0d-2b86-4ce9-8b78-31b4a7bddd65"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1743, "end_step": 1896, "id": "73a00855-d0bb-4fb1-a264-8e91ebb91f17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}, {"label": "home", "start_step": 1944, "end_step": 1970, "id": "_P6MvtpuGgEpfFKofWf8v"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:fingers_open: Left hand stays at the left side of the table, with fingers opening gradually and wrist slightly rotating, no obvious palm displacement. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block below the left side of the wooden base."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers and wrist adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until the block fully leaves the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and rightward to the position right above the peg of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand fits the green hexagonal block onto the wooden rack's peg and lowers it to the rack base until supported."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the wooden rack's peg without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the front-left purple peg and releases the block."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the leftmost white hexagonal block on the work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the work surface with fingers closing."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the work surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and rightward toward the front-left purple peg."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg by moving downward."}, {"label": "subtasks", "start_step": 368, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the left front peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the lower left area of the work surface."}, {"label": "subtasks", "start_step": 525, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the lower left area of the work surface with finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table while transporting it to above the left front purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal object with the left front purple peg while pressing it downward along the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the leftmost purple peg and releases the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the peg board."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand fits the white hexagonal block down onto the middle purple peg."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the middle purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the area above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost vertical peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface below the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut off the green block on the black table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut leftward to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1349, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple rod by aligning the nut hole with the rod, inserting it onto the rod, and pressing it down to the lower position of the rod."}, {"label": "subtasks", "start_step": 1350, "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: release: Right hand releases the white hexagonal nut on the purple rod by opening its fingers to separate from the nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the position near the purple peg to approach the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the rightmost purple rod and reaches toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple rod."}, {"label": "subtasks", "start_step": 1620, "end_step": 1687, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by lowering it along the rod to the assembled position."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the rightmost purple rod and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple top component of the front-right white column on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches for the green cubic block on the dark table surface and grasps it with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up from the dark table surface until it is completely off the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the front-right white column."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block with the front-right white column by aligning its hole with the purple top and fitting it down onto the column."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the front-right white column without moving."}], "episode_index": 17}
+{"source_uid": "4f317db5c3f3871b", "num_frames": 2609, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "61843f4c-e9f9-4bda-86bd-15e67fbfa9eb"}, {"label": "valid", "start_step": 0, "end_step": 2583, "id": "hI2A03IkdywYgg5t7bVMl"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 113, "end_step": 266, "id": "4b24868d-025e-41fc-a27d-fea218be9482"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "goal", "start_step": 267, "end_step": 340, "id": "2d92f3d6-f2dd-46c8-af03-7abc81481c50"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 341, "end_step": 516, "id": "cc866429-b113-4b63-b76f-d69ecf8c975f"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 517, "end_step": 596, "id": "748e8056-890f-4c4a-b448-5f0cd9aac7b1"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 597, "end_step": 760, "id": "cd51c723-3ea7-453f-9ca0-4f5a0bdc32e5"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 832, "id": "2a3311d1-c5a8-4b4a-a902-d9c5753174d1"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 833, "end_step": 970, "id": "f3d6b314-946a-4a11-9fd2-9f722580a96a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 971, "end_step": 1020, "id": "a2262fbe-8b97-4d2d-97fc-5ed1539639e7"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1021, "end_step": 1132, "id": "b8d30e1a-5d8f-4b7c-99dd-708f27b6a25b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "goal", "start_step": 1133, "end_step": 1194, "id": "d39767fb-a88c-42b1-b444-ca4379b8075c"}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1318, "id": "4942dc8f-4bc4-4579-ab40-4f4aa1184ab8"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1319, "end_step": 1386, "id": "aa99e762-865c-42be-bd4e-d51392b49984"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1387, "end_step": 1492, "id": "a082604c-f167-4eb9-9a46-d3f8becae815"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1493, "end_step": 2056, "id": "42dd5748-3a20-4065-a389-642277e00327"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "goal", "start_step": 2057, "end_step": 2342, "id": "314488ea-6dd3-4539-8797-e58f450ea6e9"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "goal", "start_step": 2343, "end_step": 2430, "id": "250675a3-abb3-45bf-9a72-f23a28f92f36"}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "goal", "start_step": 2431, "end_step": 2556, "id": "58f9c367-6274-40f8-81c6-75a2c786fe47"}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}, {"label": "home", "start_step": 2584, "end_step": 2608, "id": "v1pUQs4jlLUuCzhUUjQCe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_pose: Left hand slightly adjusts its finger posture at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: idle: Right hand remains empty and stationary at the right side of the workbench."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left of the wooden pegboard."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the left green block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the black tabletop and transports it upward and rightward to the upper area of the peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg on the peg board and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 502, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release_retreat: Right hand releases the white hexagonal nut from its grip and retreats upward away from the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 638, "end_step": 674, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and inserts it onto the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal object on the green base of the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift: Right hand lifts the white hexagonal object slightly upward from the green base on the leftmost purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand places the white hexagonal object back onto the green base of the leftmost purple peg."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg above the green base and releases the block."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand releases the white hexagonal block on the right peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the right peg of the wooden board."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the green hexagonal block with the right peg of the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the green hexagonal block on the right peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the green hexagonal block onto the purple peg on the wooden board, opening fingers to release the block at the end of the movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple peg on the right side of the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden board, fits it down onto the peg, and makes slight adjustments to the position."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate_release: Right hand fits the white ring onto the purple peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block from horizontal to vertical orientation on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the vertically oriented white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1717, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: push: Right hand pushes the white hexagonal block leftward along the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient_release: Right hand rotates the white hexagonal block from vertical to horizontal orientation on the table and releases it."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: retreat: Right hand moves slightly backward away from the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reach: Right hand moves forward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand grasps the white hexagonal block on the table again with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand slightly rotates the white hexagonal block to adjust its orientation on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 2054, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: reorient: Right hand rotates the white hexagonal block to adjust its orientation on the table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: place: Right hand moves downward to place the white hexagonal block onto the black table surface until the block is supported by the table."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the table, fully separating from the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 2190, "end_step": 2197, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workbench. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00064", "text": "Left hand: other:slightly_reposition_hand: Left hand slightly raises from the table surface and adjusts its finger posture. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: place_release: Right hand places the front-right white bottle onto the green base on the wooden rack and releases the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it towards the top-right bottle on the wooden base."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod on the top-right bottle and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: press: Right hand presses the green square block downward along the purple rod to the lower position of the bottle."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and hovers above the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green square block and retreats slightly to the right."}], "episode_index": 18}
+{"source_uid": "6f4dcfbc6e979c76", "num_frames": 2033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 108, "id": "cca9937c-82fd-41d1-8de9-8da614c67b0e"}, {"label": "valid", "start_step": 0, "end_step": 1998, "id": "0f-HOKC9IGYLM7CA5AE58"}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 109, "end_step": 226, "id": "4867fdfd-acc2-4ed7-bbbe-2bd3a05ffc0a"}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 227, "end_step": 312, "id": "c24c1952-4fcf-4a9b-bab5-5bf9bcc2c955"}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 313, "end_step": 424, "id": "b37e9b6e-bcc4-4707-8775-4e1486cc49d9"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 425, "end_step": 490, "id": "41fb33c6-eada-4ad3-9b1b-4ee9182b949f"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 491, "end_step": 756, "id": "75f9c915-9517-455b-8695-83504a9e1d67"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "goal", "start_step": 757, "end_step": 802, "id": "9f594896-3686-4346-af86-43ec058c60d2"}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "goal", "start_step": 803, "end_step": 900, "id": "b7a60197-6eee-4dd4-860c-22e10761c034"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 901, "end_step": 970, "id": "2c26d6ca-8afa-4026-9c5d-6d1de31a3a29"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "goal", "start_step": 971, "end_step": 1092, "id": "8b94aa0f-0cbc-4dd3-a7dc-f43a204a879e"}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "goal", "start_step": 1093, "end_step": 1140, "id": "b48e0aba-5206-433f-93af-4650de8a5772"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "goal", "start_step": 1141, "end_step": 1252, "id": "c1c49bc4-cc0f-46ad-a094-ec876b8e5e68"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "goal", "start_step": 1253, "end_step": 1312, "id": "701b1454-c7a2-40af-ba43-a04e8dc113cb"}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1313, "end_step": 1412, "id": "5472cb55-e0c9-4691-952e-0fd02eb6ad91"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 1413, "end_step": 1466, "id": "b482772a-5932-4634-909a-c33f283c4abd"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1467, "end_step": 1678, "id": "d4a20b7e-6929-4952-9560-8d99c5f5a80c"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "goal", "start_step": 1679, "end_step": 1744, "id": "5ffb8d1f-7f75-46be-893c-87264e6855b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "goal", "start_step": 1745, "end_step": 1964, "id": "f05ba2bd-0a6d-4858-bb81-50eda8629aa1"}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}, {"label": "home", "start_step": 1999, "end_step": 2032, "id": "aRkOQGE5ytO_W0W6kHy2l"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves from the right side of the frame towards the green hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to grasp the green hexagonal block stably."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the grasped green hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green block upward off the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green block to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the green block downward along the purple peg until it is fully seated."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal ring block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 261, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white hexagonal ring block fitted on the purple rod."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal ring block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 420, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 742, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table below the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grip the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and adjusts it to fit properly."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand carries the green square block toward the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand inserts the green square block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: release: Right hand releases the white block on the wooden base and moves downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: press: Right hand presses the white hexagonal block down onto the purple rod to fit it tightly."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table next to the wooden tray."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, mates the block onto the rod and releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves down from the purple rod on the wooden base to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1567, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and then releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: reach: Right hand moves towards the green hollow square block on the table."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: grasp: Right hand grasps the green hollow square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: lift: Right hand lifts the green square block off the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: transport: Right hand transports the green square block towards the rightmost post on the wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without any movement. | Right hand: mate_press: Right hand fits the green square block onto the rightmost post of the wooden rack and presses it down to the bottom of the post."}], "episode_index": 19}
+{"source_uid": "469e9a3dd61d6228", "num_frames": 2292, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "a3e22b0e-cb61-416a-9beb-88428957c58d"}, {"label": "valid", "start_step": 0, "end_step": 2266, "id": "XK1_IPsGTaP6g-zkNxgmC"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"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 workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "goal", "start_step": 137, "end_step": 260, "id": "93b23723-9f29-400a-ab07-8548b5447d90"}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "goal", "start_step": 261, "end_step": 468, "id": "1222e61d-c941-41ea-870a-5e10bbb4462f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "goal", "start_step": 469, "end_step": 792, "id": "df3b8f54-6026-4be6-8add-fa9fb99ed897"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "goal", "start_step": 793, "end_step": 854, "id": "06570b99-4b9f-4242-9b15-7ddc1fffe13f"}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "goal", "start_step": 855, "end_step": 1018, "id": "85196f69-d372-4b72-9d46-eb03f486c46b"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "goal", "start_step": 1019, "end_step": 1086, "id": "7e41cf92-1200-437f-9c04-a09ec4fe0130"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "goal", "start_step": 1087, "end_step": 1210, "id": "e78a0177-03c3-45b5-aae4-7306b19008e6"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "goal", "start_step": 1211, "end_step": 1280, "id": "0d931625-04af-40f6-a184-6720e30bed38"}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1406, "id": "96045b20-e6d1-4e28-95b0-7e65065c5f2f"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "goal", "start_step": 1407, "end_step": 1480, "id": "cb81db0e-b6b6-48d6-8fbe-08e60eca19b1"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "goal", "start_step": 1481, "end_step": 1598, "id": "ddb94c65-c9b1-45f1-a413-7edeae8f659b"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "goal", "start_step": 1599, "end_step": 1700, "id": "f762194f-c8fd-4eb6-8f3e-2f1c7d265be5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1701, "end_step": 1818, "id": "198215d4-f737-4360-8990-3237a912cd49"}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "goal", "start_step": 1819, "end_step": 1888, "id": "15d2ff92-e54b-4862-8771-3a94458a172b"}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "goal", "start_step": 1889, "end_step": 2040, "id": "61e69085-9375-44f5-952c-d3f498006f0b"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2106, "id": "89d9c8ea-1837-4a25-84e5-911e10b8383d"}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "goal", "start_step": 2107, "end_step": 2226, "id": "bf649c8e-65df-47fd-b5e7-69798a97fc2a"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}, {"label": "home", "start_step": 2267, "end_step": 2291, "id": "_7ApxkwjKID-cTyoybZ_J"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious position change."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the table in front of the wooden stand, with fingers extended."}, {"label": "subtasks", "start_step": 128, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table to establish a grip."}, {"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 workspace without obvious position change. | Right hand: mate: Right hand holds the green hexagonal block, moves it upward to the purple peg on the wooden assembly base, and aligns the block to fit onto the peg."}, {"label": "subtasks", "start_step": 172, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to slide it into a stable seated position on the base."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the nearest white hexagonal block on the black table, approaching the target without establishing a grip."}, {"label": "subtasks", "start_step": 292, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely away from the table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the lifted white hexagonal block stationary in the air above the table, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and rightward to the position directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg on the wooden rack, adjusts the block's orientation and position to slide it down the peg to complete assembly, and opens fingers to release the fully seated block."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal nut placed on the black table, with fingers held open."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to the fingers and wrist to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand lifts the gripped white hexagonal nut upward until the nut is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg on the wooden assembly base, lowering the nut to fit onto the peg to enter the assembled state."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand releases the top of the white cylindrical peg on the wooden rack, fingers opening to disengage from the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal nut placed on the black table surface in front of the rack, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1050, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing and adjusting position to form a grip on the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above a purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white hexagonal block after it is seated on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downwards from the position above the wooden assembly board toward the green hexagonal block on the table, holding no object during the movement."}, {"label": "subtasks", "start_step": 1252, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to nest onto the rod, making small positional adjustments during the fitting process."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: place_release: Right hand moves downward to position the green hexagonal block onto the purple peg of the wooden assembly, fingers opening to release the block as it rests stably on the lower white block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table surface, fingers closing around the block with small adjustments to establish a secure hold."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves the block upward toward the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the top of the purple peg, adjusting position slightly to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the white cylindrical block mounted on the purple rod of the wooden stand, separating from the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the table next to the wooden block stand."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the adjacent white hexagonal nut on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to nest onto the rod over the stacked blocks on the wooden stand."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves downward from the upper area of the purple rod toward the white hexagonal nut on the dark table surface, with fingers open."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift: Right hand moves upward with the grasped white hexagonal nut, lifting the nut completely off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and leftward, moving it to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down the rod to assemble it onto the existing stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: idle: Right hand remains empty and stationary next to the assembled white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: reach: Right hand moves empty downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting grip to stabilize hold while the block remains on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and moves it upward toward the purple rod on the white bottle in the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: mate: Right hand aligns the hole of the green square block with the purple rod, sliding the block down the rod to fit it onto the white bottle."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious position change. | Right hand: release: Right hand opens fingers to release the green square block fitted on the purple rod, moving slightly away from the block."}], "episode_index": 20}
+{"source_uid": "a9b9fd4680a65d27", "num_frames": 1757, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 146, "id": "9b55c267-8d9e-4b6d-ba6a-d90e4813a25e"}, {"label": "valid", "start_step": 0, "end_step": 1729, "id": "vCcpSJEFrfhy8rVQrvZo8"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 147, "end_step": 262, "id": "86035d0f-cb73-4426-bece-e8c52d3bfbb0"}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "goal", "start_step": 263, "end_step": 348, "id": "af59be67-dcf5-4a7f-bb49-18009534776c"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "goal", "start_step": 349, "end_step": 460, "id": "8cfddc79-b7e3-457d-b3ba-65d9d04ad23e"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 461, "end_step": 518, "id": "dcf3c970-a6eb-47b2-8d19-5f20caf9f037"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "goal", "start_step": 519, "end_step": 632, "id": "9ff3166b-ae28-4b7d-80ed-fd15efe2c401"}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "goal", "start_step": 633, "end_step": 706, "id": "0414c211-c85b-4107-85c0-bcc8b7ac83fa"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 707, "end_step": 850, "id": "8de7f656-55db-463b-a574-cbfd9bf6fc04"}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 904, "id": "c3f68376-2a4e-41a1-ab7b-caa1a39ab0dc"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 905, "end_step": 1000, "id": "433758c0-5447-4dc3-aa3a-878f60614baa"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "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: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "goal", "start_step": 1001, "end_step": 1092, "id": "321bbf43-5615-4d76-86a4-57cb05540025"}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "goal", "start_step": 1093, "end_step": 1194, "id": "0fedf178-0727-4cb1-af37-1cf107db5a36"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1195, "end_step": 1260, "id": "195936b8-f81b-41ba-b14e-e168e3adfbd5"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "goal", "start_step": 1261, "end_step": 1344, "id": "5c8b68da-9809-4d09-9012-8d55fa638982"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "goal", "start_step": 1345, "end_step": 1410, "id": "653efcea-8d9e-4ea9-9f4b-7defe79322f3"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1411, "end_step": 1540, "id": "28c10c9d-950f-4d57-b0f9-acd0bad82df7"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "goal", "start_step": 1541, "end_step": 1590, "id": "32d382e8-e6eb-4d54-afd3-ca8e1e3f1d4e"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1696, "id": "963ac31b-06c3-4ce1-8de7-8275a42e4316"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}, {"label": "home", "start_step": 1730, "end_step": 1756, "id": "_7mg_lBoUN7bYmNbRkioZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and wrist posture at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block at the left lower side of the wooden pegboard."}, {"label": "subtasks", "start_step": 82, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left lower side of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down the peg."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring onto the left purple peg and releases it quickly."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal object on the black table."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal object on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the black worktable surface."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal nut down along the leftmost purple peg onto the green base."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the green base of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the top of the tallest purple peg of the wooden rack, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around the ring to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring from the black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal ring with the middle purple peg of the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal ring on the purple peg, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg rack without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the right purple peg of the base and releases the block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the middle purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal piece along the middle purple peg onto the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "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: mate: Right hand mates the green hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylindrical piece on the green peg of the stacking base and releases the piece."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the black table near white hex nuts without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hex nut on the black table, with fingers closing around the nut to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and moves it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the purple peg on the wooden base and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal ring on the black table surface to establish grasp."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical rod on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the white perforated block on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white perforated block leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1440, "end_step": 1514, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod's base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical bottle on the top of the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table surface and transports it upward toward the rightmost column of the bottle array."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the purple rod on the rightmost bottle and fits it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block fitted on the rightmost bottle without moving."}], "episode_index": 21}
+{"source_uid": "141c1a9d788c8e61", "num_frames": 1939, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 112, "id": "11155cd0-43f7-440b-9109-5a3e874c0943"}, {"label": "valid", "start_step": 0, "end_step": 1912, "id": "9E_aawtHtUKTdvkRWByGK"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 113, "end_step": 234, "id": "7c09e676-c2ae-40fb-916d-c573d83a4b0e"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 235, "end_step": 348, "id": "6c5f3ed9-f575-4a3b-8227-a9eff62a4eda"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 349, "end_step": 464, "id": "694edf89-5849-447a-b665-a524f3b96f64"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 558, "id": "70dc6c8d-4aa6-4d3f-a932-f7e2b8b6a8a3"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 559, "end_step": 680, "id": "3b6c87c6-6435-4080-bab8-4a92ca2bd599"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "goal", "start_step": 681, "end_step": 744, "id": "37b3b877-3952-4ae5-a89d-e17f3cc1c17d"}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 745, "end_step": 852, "id": "e6f243a6-f166-482b-841c-57b52fbe8a07"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 853, "end_step": 896, "id": "e9acfbc1-7158-45eb-9a44-795f39164ff8"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "goal", "start_step": 897, "end_step": 1056, "id": "8ad65530-d9ab-4fc2-a836-94f9505bfdef"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1057, "end_step": 1114, "id": "06c404ac-02bb-41e6-a6b1-24a709531e6a"}, {"label": "subtasks", "start_step": 1080, "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: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "goal", "start_step": 1115, "end_step": 1306, "id": "4a3ff4d5-d341-4ff4-9533-14378a70f8d7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 1307, "end_step": 1358, "id": "887a0672-0769-464e-b852-8617579c4eda"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 1359, "end_step": 1492, "id": "c1ba7447-e0f9-4975-babf-03515709be02"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1493, "end_step": 1556, "id": "95373def-71f2-4d72-83a5-0aaa90aa981f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1557, "end_step": 1696, "id": "8448c4dd-2b08-4895-81d1-e8324cb0eb8f"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "goal", "start_step": 1697, "end_step": 1748, "id": "bfa376d8-f080-4a38-8da3-b96b2dccc0cd"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "goal", "start_step": 1749, "end_step": 1868, "id": "a5e1ae10-59e6-4f1d-bf78-57ab39082891"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}, {"label": "home", "start_step": 1913, "end_step": 1938, "id": "LGM3BKm4eMNwcC4UTyxJv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right initial position toward the green block below the wooden pegboard."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the leftmost purple rod on the wooden base and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 285, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the leftmost purple rod on the green base."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod, aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post fixed on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple post."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully seated."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block in front of the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and carries it toward the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1049, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the adjacent white peg of the wooden base to secure its position."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden peg base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1080, "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: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with fingers closing around it."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the green block topped peg of the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty and stationary beside the wooden peg base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1402, "end_step": 1484, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block on the rightmost purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it toward the white bottle with the purple top on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the white bottle with the purple top by fitting its hole over the bottle."}], "episode_index": 22}
+{"source_uid": "515f12b1853a7bd8", "num_frames": 2474, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "392eea6c-3004-4a34-bed5-7b70f266898b"}, {"label": "valid", "start_step": 0, "end_step": 2444, "id": "OC5yl0xC-HGKcxJRQbCyP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"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 with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "goal", "start_step": 123, "end_step": 246, "id": "fc4da57b-6824-47eb-af5d-ebf9864ae2fb"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "goal", "start_step": 247, "end_step": 316, "id": "30b3e0f0-a933-4b8a-b837-5805744fb7f9"}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 317, "end_step": 558, "id": "bffb1bcd-5b56-411a-8edc-337d819144a3"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "goal", "start_step": 559, "end_step": 636, "id": "02a54f35-748a-4a7d-aa1e-1835d891418d"}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "goal", "start_step": 637, "end_step": 768, "id": "3c8ba00f-9b09-4c09-8a47-5f3b7b1f7e30"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "goal", "start_step": 769, "end_step": 846, "id": "01322a23-5f66-4de4-8cb8-05561f687a9a"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "goal", "start_step": 847, "end_step": 948, "id": "0ea62248-c021-40af-be0b-7bf10a8d6e4b"}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "goal", "start_step": 949, "end_step": 1028, "id": "8b94725f-35b9-4395-8778-7bcdbac267b8"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "goal", "start_step": 1029, "end_step": 1150, "id": "bdc3359b-eaea-4ad7-aa6e-48a3fd035181"}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 1151, "end_step": 1284, "id": "15a8513e-158d-4e6b-965f-d8b68f691669"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "goal", "start_step": 1285, "end_step": 1444, "id": "f24023dd-7d50-4231-83ce-89dde116943a"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "goal", "start_step": 1445, "end_step": 1506, "id": "cbb4df6d-cd2c-4dae-a9b7-ac93f45b09a4"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1620, "id": "6d1b12e1-e376-4ace-906b-dcdebb20e9d0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "goal", "start_step": 1621, "end_step": 1694, "id": "90d63c84-2be4-4e0a-a135-f00232456605"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "goal", "start_step": 1695, "end_step": 1948, "id": "29b27d3d-64d3-4ebd-982f-df90f0f2cd24"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "goal", "start_step": 1949, "end_step": 2018, "id": "602a6531-f2b5-44b5-85aa-434bbe03630a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "goal", "start_step": 2019, "end_step": 2402, "id": "3085615b-a0d1-44be-a6bf-9e528d500aee"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}, {"label": "home", "start_step": 2445, "end_step": 2473, "id": "bTI7bEZ8s_Saj6l3i2BO7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: idle: Right hand remains empty at the right initial position with no obvious overall displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves left and downward toward the loose green hexagonal nut on the table in front of the wooden stand, staying empty while approaching the target object."}, {"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 with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the loose green hexagonal nut on the table, fingers gradually closing to adjust and form a grip on the nut."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and slides it downward along the peg to assemble it onto the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: press: Right hand presses down on the stacked hexagonal blocks on the wooden peg rack with downward force to seat them firmly on the pegs."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downwards away from the wooden peg rack with open fingers, approaching the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward off the black table surface and carries it to the position above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 465, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple peg and lowers it to fit the nut onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the placed white-and-green block on the wooden pegboard without obvious movement."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block toward the wooden assembly stand, positioning the block directly above one purple rod on the stand."}, {"label": "subtasks", "start_step": 675, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align with the target purple rod, and lowers the block to fit onto the rod with fine adjustments."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the wooden block assembly toward the white hexagonal nut on the table in front of the assembly, with fingers slightly open."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closing fingers and adjusting wrist position to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the black table and closes fingers to grasp the nut."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift: Right hand holds the grasped white hexagonal nut and lifts it upward until the nut is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut and moves it to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut down onto the post to form the assembled connection."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden base area toward the green hexagonal block placed on the black table surface, holding no object."}, {"label": "subtasks", "start_step": 990, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the table, fingers close and make small adjustments to establish a stable grip while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1072, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod of the wooden block holder without any observable movement."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward empty from the block assembly stand area toward the white hexagonal nut on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position above the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target vertical peg on the wooden block rack, lowers it onto the peg, and makes small positional adjustments to seat it securely on the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward toward the closest white hexagonal nut on the black table surface adjacent to the assembly tray."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting grip to hold the nut securely while it rests on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, moving it upward and leftward to position directly above the purple peg on the assembly tray."}, {"label": "subtasks", "start_step": 1552, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit onto the peg until it rests on the lower supporting block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, leaving the nut assembled on the purple peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked blocks toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to form a stable hold on the nut."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward then leftward to position directly above the purple rod on the block base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers the nut to fit onto the rod and seat it onto the existing block stack on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no obvious overall movement throughout the segment. | Right hand: release: Right hand opens fingers to release the seated white hexagonal nut, separating from the nut assembled on the purple rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: idle: Right hand stays empty and stationary above the upper right area of the stacked block assembly, hovering near the top white cylinders."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: reach: Left hand moves upward toward the left side of the stacked block assembly, approaching the white cylinders with fingers held in a slightly open posture. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block with a circular top hole resting on the black table surface, remaining empty as it approaches the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2009, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand makes contact with the green holed block on the table, with thumb and fingers closing around the sides of the block to establish a grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: hold: Right hand holds the green block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it leftward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place_release: Right hand lowers the green block toward the target bottle cap, releases the grip, and the green block falls onto the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: reach: Right hand moves downward toward the green block that fell on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: grasp: Right hand closes fingers around the green block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it upward toward the empty spot on the wooden block holder."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary adjacent to the left side of the stacked block assembly, with no observable wrist or arm movement. | Right hand: place: Right hand lowers the green block onto the target bottle cap on the wooden holder, positioning it to rest stably on the cap."}], "episode_index": 23}
+{"source_uid": "964ac1a036dcc889", "num_frames": 2046, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 124, "id": "5c74fd8d-00ad-47f0-b546-05e90572d946"}, {"label": "valid", "start_step": 0, "end_step": 2017, "id": "Eumst9BNl7lX4Y8OI9LeM"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 125, "end_step": 348, "id": "90480648-b137-41d6-8dbf-613b02ccc128"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "goal", "start_step": 349, "end_step": 472, "id": "c6e3022a-b3f3-4929-8900-5028badb78c5"}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 473, "end_step": 600, "id": "84b827f7-a299-422c-be86-67bbc6481073"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "goal", "start_step": 601, "end_step": 676, "id": "b009b10d-cb55-4ebb-8def-7935a6a08b58"}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 677, "end_step": 872, "id": "457d7c20-46b8-4e53-a9e8-d50a046b73eb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "goal", "start_step": 873, "end_step": 914, "id": "93cb5201-c3aa-4fed-a3e4-79775d668861"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "goal", "start_step": 915, "end_step": 1006, "id": "7f1b6ac9-3e55-43fb-b37d-8f7927054d80"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "goal", "start_step": 1007, "end_step": 1080, "id": "1a24c32d-0ec4-4e99-8ec8-967c1b92ec4b"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1081, "end_step": 1198, "id": "18796abd-7cc7-4d9b-8e76-c251182f94cf"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "goal", "start_step": 1199, "end_step": 1256, "id": "012f12f5-ddd1-417b-b79d-ed6b33024309"}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1257, "end_step": 1398, "id": "32a4ff6f-ca8b-4362-86cf-4dea1f574b7f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "goal", "start_step": 1399, "end_step": 1446, "id": "eaa84871-e566-4ebe-b2df-bb7a4ba38b1e"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1447, "end_step": 1570, "id": "e520af18-fc96-4701-8766-38ff1d5dced6"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1571, "end_step": 1608, "id": "8d92d2f8-7ba2-4968-8485-398a8292716e"}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "goal", "start_step": 1609, "end_step": 1778, "id": "44a1d52d-d11d-4122-9e54-4eae29a3148e"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "goal", "start_step": 1779, "end_step": 1828, "id": "806225da-b927-449c-900c-515c01e82c04"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1829, "end_step": 1954, "id": "0042ceea-3830-49e7-9ae2-dc77003f7c31"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}, {"label": "home", "start_step": 2018, "end_step": 2045, "id": "WT2NHqPAHB8rrpFHQM6Ju"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:finger_extend: Left hand stays at the left side of the table, with fingers extending from a slightly curled posture to an open posture. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the central wooden pegboard, with fingers open."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the edge of the wooden pegboard with fingers closing around it."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the wooden pegboard toward the robot along the table surface."}, {"label": "subtasks", "start_step": 112, "end_step": 119, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the wooden pegboard on the table surface without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal ring off the table and transports it to above the leftmost purple vertical peg."}, {"label": "subtasks", "start_step": 165, "end_step": 217, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal ring onto the leftmost purple peg by aligning the central hole and sliding the ring downward."}, {"label": "subtasks", "start_step": 218, "end_step": 277, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal ring down along the leftmost peg to seat it firmly."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal ring, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal ring placed on the black table near the peg set."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table, with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal ring off the table and transports it toward the leftmost purple peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the center-right wooden base and releases it."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table below the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the green table block, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table block while moving it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal part on the table, with fingers open."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it towards the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg of the wooden rack, adjusting the piece to fit securely onto the peg."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal piece on the purple peg and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg and stays still above the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it to the top of the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg by sliding it down the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward empty-handed toward the bottom white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1387, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal object on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple rod with fingers opening."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the purple rod area toward the right side."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1731, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it until the block is seated on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the top component of the rightmost white bottle slightly while keeping the bottle's position unchanged."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cube on the table, making slight adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it up and left toward the rightmost white bottle."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cube with the purple rod on the rightmost white bottle and presses it down to complete the assembly."}], "episode_index": 24}
+{"source_uid": "fe809daf4e3e0783", "num_frames": 1786, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 122, "id": "3c71740c-21fe-4559-bcc8-3cce2b4e2bab"}, {"label": "valid", "start_step": 0, "end_step": 1762, "id": "mOA_d6oqwwVcFQXxX_r7d"}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 123, "end_step": 284, "id": "f80e0c73-5861-4125-8c0a-4fd2aabb6990"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 285, "end_step": 344, "id": "330e302a-cfa1-4c23-939c-db8f497e51f3"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 345, "end_step": 486, "id": "a0078746-d656-4b77-8ead-e563fa367786"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 487, "end_step": 548, "id": "ed0829ab-ca1c-460c-a0aa-a90578d68761"}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 549, "end_step": 664, "id": "b2cd6373-f387-4302-9feb-fa5b5fdc4d53"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "goal", "start_step": 665, "end_step": 736, "id": "94f31179-28c2-436d-8f8e-686983328ac7"}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "goal", "start_step": 737, "end_step": 860, "id": "8acf781a-325a-4769-8f1a-83dbcc9686ea"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "goal", "start_step": 861, "end_step": 912, "id": "121ebd2b-f588-4d0e-ad3c-70a74520f679"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 913, "end_step": 1032, "id": "ed067487-bcd1-49d5-b6bb-206607201b79"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1033, "end_step": 1098, "id": "b982152a-5cac-4780-bb33-a457c78a54aa"}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "goal", "start_step": 1099, "end_step": 1250, "id": "c0d38af2-4482-4b3b-9cd0-bc97cf6f9e97"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1251, "end_step": 1288, "id": "13c5e3f9-ac39-48da-80f1-6dfc83c3737f"}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1376, "id": "9db98774-6f9a-4d66-9c90-96e91bc37705"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "goal", "start_step": 1377, "end_step": 1434, "id": "904aecb4-2152-430b-b35c-0c9019f01430"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1435, "end_step": 1528, "id": "bc0a665b-1073-443a-8f32-623b1403d186"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1529, "end_step": 1596, "id": "ce27f125-2d57-4f41-8bba-31fc977c156c"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 1597, "end_step": 1736, "id": "365f6aa9-0a6f-4a01-9b86-500794515c58"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}, {"label": "home", "start_step": 1763, "end_step": 1785, "id": "sMOFrT01trItdJsDjg-gb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block placed on the black table in front of the wooden rack."}, {"label": "subtasks", "start_step": 45, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod by aligning and lowering it to fit on the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand moves the white hexagonal block downwards to mate it onto the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the vertical post on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the tabletop below the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal nut from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal nut down to the bottom of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden rack's peg."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to reach the green square block on the tabletop."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green square block and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green square block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 1004, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green square block down to the bottom of the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that has been pressed onto the wooden rack's peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1088, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black tabletop."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the green support on the black table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray with empty hand."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 1642, "end_step": 1724, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the white bottle with purple top, pressing it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green square block that is fitted on the bottle."}], "episode_index": 25}
+{"source_uid": "f286398675279a53", "num_frames": 2010, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "goal", "start_step": 0, "end_step": 132, "id": "04dd5732-4ad7-4007-aaf0-79b33a4ca318"}, {"label": "valid", "start_step": 0, "end_step": 1987, "id": "HMhcrv5WsQjWopqzEicIE"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "goal", "start_step": 133, "end_step": 258, "id": "7cc3a3eb-0f9c-4865-bbd3-f6d3a86c0163"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"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 workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "goal", "start_step": 259, "end_step": 314, "id": "f7368a8f-24de-426a-b3f4-fa49b3bfab36"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "goal", "start_step": 315, "end_step": 438, "id": "9b30b526-a3fc-410b-abfe-db547918b47d"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "goal", "start_step": 439, "end_step": 500, "id": "6f7e2957-a679-48fb-b14d-b11c5eb49ec7"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "goal", "start_step": 501, "end_step": 604, "id": "9b6928d8-6074-41e7-81e3-0f107cacb026"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "goal", "start_step": 605, "end_step": 686, "id": "9fcdf615-57b4-449d-9368-7d69b7eb71ec"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 687, "end_step": 812, "id": "4a20f5ab-a8a8-41be-b2fe-c4ea6802880a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 813, "end_step": 872, "id": "e2c17de9-a5b9-4ff0-94bb-06629ef22a73"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 873, "end_step": 1000, "id": "9f867883-903d-4163-9e85-8ad54e235bba"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "c1de2a9d-6f4e-428b-9335-f4c823d46db6"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "goal", "start_step": 1077, "end_step": 1274, "id": "852f04b9-1302-4706-8d38-792acd91c92d"}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "goal", "start_step": 1275, "end_step": 1332, "id": "415cec86-9e68-4a58-86e4-c40afe7fde63"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "goal", "start_step": 1333, "end_step": 1494, "id": "1c43385b-0578-4b37-a02d-e7bf37331538"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "goal", "start_step": 1495, "end_step": 1550, "id": "faee1a49-f5d6-459a-80d1-9becc63b0534"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1706, "id": "8a04ed0f-34fd-4333-8017-55c41bc98d9d"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "goal", "start_step": 1707, "end_step": 1776, "id": "cd30a8c2-9863-4810-9dc5-8bc683505203"}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "goal", "start_step": 1777, "end_step": 1952, "id": "a7f40192-edfd-4001-85a0-68a00b02c13d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}, {"label": "home", "start_step": 1988, "end_step": 2009, "id": "2_199ngJ4RVC7yUX91efs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: idle: Right hand stays empty at the right initial position, with only minor finger movement and no obvious wrist displacement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden peg stand, with fingers slightly open before making contact."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand contacts the top surface of the target green hexagonal block, with fingers gradually closing to form a grip while making minor positional adjustments."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"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 workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the grasped green hexagonal block horizontally to position it directly above the target purple peg on the wooden peg base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to slide it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, making slight grip adjustments to form a stable hold on the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, adjusting position slightly before lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block, separating from the block surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the front white hexagonal block on the black table surface, with fingers extended and open."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, moving it upward and backward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg below, lowering the block to fit securely onto the peg as part of the assembly."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the purple vertical rod on the wooden assembly stand, moves the nut downward to nest it onto the rod until it rests stably on the existing white nut below, opening fingers to release the assembled nut at the end of the motion."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the assembly stand area toward the white hexagonal nut on the table surface in front of the stand, holding fingers in an open position, approaching the target nut and making light initial contact with it by the end of the segment."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal nut placed on the table near the wooden block assembly, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple post on the wooden assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post below, makes small positional and rotational adjustments, and slides the nut down onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple post, separating the hand from the nut."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to the position directly above the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand applies downward pressure to the top of the white cylindrical block on the wooden pegboard."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a grasp."}, {"label": "subtasks", "start_step": 1088, "end_step": 1101, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward, fully separating the nut from the black table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and toward the purple rod on the wooden assembly base, positioning the nut directly above the rod."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowering the nut to fit onto the rod and seat it on the existing white nut positioned below."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, fully separating the fingers from the nut's surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves while empty toward the top surface of the newly placed white hexagonal nut, approaching to make contact."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses downward on the top surface of the white hexagonal nut, applying pressure along the vertical axis to secure the nut on the rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves down and right from above the wooden block assembly toward the white hexagonal block resting on the table to the right of the assembly, fingers held in an open posture."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, forming a secure grip while the block stays in contact with the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table, moving it up and left to position it directly above the purple vertical rod on the wooden assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to slide it onto the rod until it sits on the existing block on the rod."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod, moving slightly upward away from the block as the grip is released."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper area of the block set toward the white hexagonal block on the table, with fingers kept open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and leftward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: press: Right hand presses the purple pump head of the white bottle on the wooden stand vertically downward."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with slightly open fingers, without touching the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hollow block on the table to establish a grip on the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface and moves it upward toward the purple raised post on the top of the rightmost white bottle on the wooden stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple raised post, making small positional adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious positional movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains seated on the bottle top."}], "episode_index": 26}
+{"source_uid": "9c4087463103f438", "num_frames": 1892, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 121, "id": "6e993591-6e50-4dd7-96a3-f6070f9d4849"}, {"label": "valid", "start_step": 0, "end_step": 1861, "id": "yf9MjQquG6-fSq0m7_aGU"}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "goal", "start_step": 122, "end_step": 289, "id": "239c4866-dd93-4e58-9267-2f64dba1d41f"}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "goal", "start_step": 290, "end_step": 353, "id": "c06b3b34-d852-459b-9d44-0514215a118a"}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 354, "end_step": 485, "id": "d08e318b-06c2-49ce-9b16-f2755714d2f9"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "goal", "start_step": 486, "end_step": 549, "id": "e2d8d0db-7ae2-4cc5-9a84-1715a920c4ea"}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "goal", "start_step": 550, "end_step": 735, "id": "65621c09-4250-4143-9427-b0f54b2439ba"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "goal", "start_step": 736, "end_step": 819, "id": "249bf3e9-89d1-4b92-8a47-bece4dd23c64"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "90cc4dfd-f578-4550-b967-ba08b9dd41a1"}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 946, "end_step": 1003, "id": "c2764614-7417-452f-820c-29266f05e8cc"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "goal", "start_step": 1004, "end_step": 1097, "id": "5706b358-93b9-48aa-955a-a2b7695853de"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "goal", "start_step": 1098, "end_step": 1165, "id": "f9fdb436-5e6f-48ea-9ad0-957e052238f5"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1166, "end_step": 1257, "id": "603e6812-1a91-4b7e-9040-0197bbbe9935"}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "goal", "start_step": 1258, "end_step": 1319, "id": "e0bb320d-0fcc-40ef-a3a0-558bb45fba2b"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 1320, "end_step": 1455, "id": "960a9fdb-8179-4bb6-9486-b6d644c549e2"}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "goal", "start_step": 1456, "end_step": 1531, "id": "964174c1-51fe-490a-b281-443328c3fd26"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "goal", "start_step": 1532, "end_step": 1633, "id": "09aa3095-efee-4359-ad37-a073abf38e83"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1634, "end_step": 1701, "id": "bd854497-2d82-45d7-8541-972816b5f3ff"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1702, "end_step": 1817, "id": "b12ac01c-5fd9-4e60-9c8c-95a29f4b8222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 1862, "end_step": 1891, "id": "cFDI1PHZM3wAldU2NvaJd"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the table below the left side of the wooden board, moving leftward and downward from its initial position on the right side of the table."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the edge of the inverted wooden base on the table with fingers closing and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient_place: Right hand rotates the wooden base about 180 degrees to place it upright and sets it stably on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the upright wooden base on the table without moving."}, {"label": "subtasks", "start_step": 188, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the leftmost purple rod on the base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downward along the purple rod to a lower position."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and fits it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 480, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the peg toy area toward the white hexagonal block on the table, not making contact with the block."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table as its fingers close around the block."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it up and right toward the leftmost peg of the wooden peg toy."}, {"label": "subtasks", "start_step": 592, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the peg toy and fits it onto the peg, adjusting the block's position downward."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal block onto the rightmost peg of the green base and releases its grip."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal piece on the table in front of the green base."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 802, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position right above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the middle purple peg and inserts it downward onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg, with fingers opening to detach from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the rightmost purple peg, aligning the hole and inserting the block onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the purple rod on the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod and lowers it onto the underlying white block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the purple rod operating area."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white block on the rightmost front column of the wooden board downward."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white ring from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward and leftward to the position above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple post by lowering and fitting the ring onto the post."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple post by opening its fingers."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block with the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden board with white cylinders."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white cylinder on the wooden board and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}], "episode_index": 27}
+{"source_uid": "a7f1df29b8f34c54", "num_frames": 1969, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "07acfadd-8428-4a79-8b3e-4dc4eea518da"}, {"label": "valid", "start_step": 0, "end_step": 1944, "id": "hPb1UMpSyrpVHYUSMhDZ_"}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 131, "end_step": 242, "id": "b20a8dd7-3b2d-47d6-ba59-f58e4c77418b"}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 243, "end_step": 330, "id": "11cf02e4-d14e-480a-a3a7-9d30ce2f7733"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 331, "end_step": 502, "id": "3a40ede3-f251-4ec4-876a-e78efd82f43c"}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 503, "end_step": 576, "id": "b116090f-8670-4fdd-8d68-99ade39d52e7"}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 577, "end_step": 704, "id": "78262289-fa8c-4252-9d12-50fd595d2138"}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 705, "end_step": 778, "id": "ea357a5f-693c-4e37-95c0-c633dad9b228"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 779, "end_step": 870, "id": "b8917b1d-8440-4dca-90c9-031e8bc0b777"}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 871, "end_step": 932, "id": "cb43c323-4f76-4fe7-a977-f9e901c36ecb"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 933, "end_step": 1038, "id": "d2e5958f-1cf9-40aa-a13b-c1976e789511"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1039, "end_step": 1090, "id": "054a0c5b-acc4-40bc-b249-e448756877ae"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "goal", "start_step": 1091, "end_step": 1216, "id": "e455d7b6-9d72-4334-9094-bae7fec6893c"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "goal", "start_step": 1217, "end_step": 1266, "id": "a1a0a875-f7f6-4f18-a934-9bbfe529f1cc"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1267, "end_step": 1408, "id": "d309c4c0-943f-4390-9bad-672e4feb5aca"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 1409, "end_step": 1598, "id": "b2141ef8-a08c-41db-875f-0d78f4e2e874"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1599, "end_step": 1728, "id": "c293b15b-5a79-4e2b-9aa4-c3ec46c3d4e7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "goal", "start_step": 1729, "end_step": 1776, "id": "6dc527a2-3bda-441b-9f34-7a88d44d4bd5"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 1777, "end_step": 1900, "id": "ceb146df-7b90-4474-98fb-5efc411a85ee"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}, {"label": "home", "start_step": 1945, "end_step": 1968, "id": "mjyqiUStq6YelPQRdSO0W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves forward towards the green square block located below the left of the wooden base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the black tabletop."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: hold: Right hand holds the green square block without any observable movement."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and moves it above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green cube onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 292, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and moves it to above the front-left purple pole of the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the front-left purple pole and inserts it onto the pole."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal nut down along the purple pole to secure it in place."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut fixed on the purple pole."}, {"label": "subtasks", "start_step": 488, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: retreat: Right hand moves away from the wooden base after releasing the nut."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 622, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand lowers the white hexagonal block onto the purple rod of the wooden base until it is positioned stably."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downwards toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden base, pushing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: place: Right hand places the white hexagonal part onto the top of the target purple peg."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the white hexagonal part downward to fit it onto the purple peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release: Right hand releases the white hexagonal part from its grasp."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it."}, {"label": "subtasks", "start_step": 1388, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white hexagonal block from the purple rod and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand touches the white hexagonal block, fingers adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reorient: Right hand rotates the white hexagonal block on the tabletop to adjust its orientation, with the block's horizontal position unchanged."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand grasps the white block on the black table with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats from the assembly position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: reach: Right hand moves downward toward the green block on the right side of the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it toward the white pillar set on the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: mate: Right hand aligns the green block with the white pillar on the wooden base and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table. | Right hand: press: Right hand presses the green block down to secure it onto the white pillar."}], "episode_index": 28}
+{"source_uid": "c4ed661951693d2e", "num_frames": 2259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "goal", "start_step": 0, "end_step": 324, "id": "37972cf4-7e8e-4bcd-8538-9a377a7c3ea0"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "YwRH9HK7Rm932yD2J2z48"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "goal", "start_step": 325, "end_step": 666, "id": "ad274156-dad9-4eb9-ae75-eb99d6b8da97"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "goal", "start_step": 667, "end_step": 768, "id": "7d16c7b2-5356-4118-86b2-daa85d18d8f3"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "goal", "start_step": 769, "end_step": 876, "id": "5d123ad5-50ae-4e16-8b49-54596eaeedb7"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "goal", "start_step": 877, "end_step": 958, "id": "1aa9029a-6578-4a54-9449-8adcb474a493"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 959, "end_step": 1104, "id": "46ae778e-af7f-4ff8-820a-3fdf9118290f"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "goal", "start_step": 1105, "end_step": 1170, "id": "fb688db9-cbe1-435c-a2a8-c3b219c8dc92"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "goal", "start_step": 1171, "end_step": 1288, "id": "8bfabe8c-cf4e-4b3b-977b-e19d93b7b927"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "goal", "start_step": 1289, "end_step": 1340, "id": "79b04508-eb94-423e-86f2-11259123684b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1341, "end_step": 1446, "id": "f59e5dac-75c2-4e81-af65-f0b3879526b4"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "goal", "start_step": 1447, "end_step": 1506, "id": "898b547c-de6a-4f84-b48a-11280b964211"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "goal", "start_step": 1507, "end_step": 1636, "id": "b9ed122c-e784-443d-b508-18f01ab5383b"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "goal", "start_step": 1637, "end_step": 1708, "id": "147884d2-7a1b-4e59-8cc8-7738aed327ab"}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "goal", "start_step": 1709, "end_step": 1806, "id": "25464905-c96a-4766-b859-b6ab120d0d15"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "goal", "start_step": 1807, "end_step": 1862, "id": "4e27d0a6-89e5-4707-9676-f68a1f65d51e"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "goal", "start_step": 1863, "end_step": 2004, "id": "7f1c4de7-75ce-4be0-a53d-b4b92bc07fc9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "goal", "start_step": 2005, "end_step": 2068, "id": "ee808080-f145-449c-9641-70f6897929df"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "goal", "start_step": 2069, "end_step": 2196, "id": "478083ab-f944-42c5-b9a9-32a04e6e518b"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}, {"label": "home", "start_step": 2241, "end_step": 2258, "id": "Ov-vYgvxUo-fMWIOs2TNC"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: idle: Right hand stays empty at the initial right resting position without any obvious movement."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the table in front of the wooden peg base, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 98, "end_step": 337, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, continuously adjusting finger positions and wrist orientation to close around the block, which remains resting on the table surface throughout the process."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and slightly toward the assembly base to position it directly above the leftmost purple peg."}, {"label": "subtasks", "start_step": 368, "end_step": 651, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand lowers the green hexagonal block toward the leftmost purple peg, makes small adjustments to its position and orientation to align the central hole with the peg, and presses the block down to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens its fingers to release the fitted green hexagonal block, moving digits slightly away from the block surface."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to seat it on the purple peg of the wooden base, fingers opening to release the supported block."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward from the wooden peg board toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target green hexagonal block on the table, fingers adjusting and closing to establish a grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the stably grasped white hexagonal nut off the black table surface and moves it upward to position it directly above the target purple assembly post."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple assembly post and lowers the nut to fit it onto the post."}, {"label": "subtasks", "start_step": 862, "end_step": 869, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple assembly post, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand seats the white hexagonal block onto the purple peg of the wooden assembly, releasing grip as the block locks into place."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the front purple peg on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the orientation and position of the white hexagonal block to align it with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_release: Right hand holds the misaligned top white hexagonal column on the purple rod, adjusts its orientation and position to align with the mounting point, presses it down to complete assembly, releases fingers from the column."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves in an empty state downward from the assembled column area toward the front white hexagonal nut placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand contacts the target white hexagonal nut on the table, closes fingers and adjusts contact points to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and moves the nut downward to fit it securely onto the peg, completing the nested assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward away from the wooden base, approaching the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and carries it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple peg, fits the block onto the peg and lowers it until it is stably supported by the white block underneath."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple rod, presses it against the underlying green block and releases fingers to leave the block secured on the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward empty, approaching the white hexagonal block resting on the table surface in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the empty purple rod on the assembly stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the held white hexagonal block to align its central hole with the top of the purple rod, lowering it slightly to fit onto the rod end."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place: Right hand slides the white hexagonal block down the purple rod until it rests stably on the white block below, maintaining contact with the block after placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: press: Right hand presses the raised white cylindrical block on the top of the rightmost stack column to press it flush with adjacent blocks."}, {"label": "subtasks", "start_step": 1658, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves downward while empty toward the white hexagonal block placed near the right side of the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate_place: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, slides the block down the rod to set it onto the supporting white block at the bottom of the rod."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves from the area above the block assembly down toward the white hexagonal nut on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface, then moves it upward and leftward to the position above the purple rod on the block assembly."}, {"label": "subtasks", "start_step": 1920, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: hold: Right hand holds the white hexagonal nut above the purple rod without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: place_release: Right hand places the white cylindrical piece with purple rod into the corresponding hole on the wooden block, fingers opening to release the piece as it settles into the hole."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp, the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: lift: Right hand lifts the grasped green cubic block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: transport: Right hand carries the grasped green cubic block toward the purple rod on the wooden block assembly, moving the block to a position directly above the target assembly point."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: mate: Right hand adjusts the green cubic block to align its central hole with the purple rod, moving the block downward to fit over the rod and seat on the lower white cylinder."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace, maintaining a mostly static posture without contacting any operational objects. | Right hand: release: Right hand opens fingers to release the green cubic block, the block resting stably on top of the white cylinder as hand contact with the block ends."}], "episode_index": 29}
+{"source_uid": "1585dca8f71d088a", "num_frames": 1949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 128, "id": "b35a919c-c605-4eba-9f31-3f4fdc4a5a98"}, {"label": "valid", "start_step": 0, "end_step": 1922, "id": "sbSNz_AYPfHqSlE9iIDba"}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 129, "end_step": 236, "id": "b8973121-6ae7-47e0-b0aa-af77e90c4943"}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 237, "end_step": 304, "id": "59b38ccb-d269-4be3-9e0a-6e183549a9e6"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "goal", "start_step": 305, "end_step": 422, "id": "f42432bd-ee77-4fa4-a0aa-8c460bd6c303"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "goal", "start_step": 423, "end_step": 492, "id": "f5b82f3d-1616-45cb-9449-2eb61d334ba3"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "goal", "start_step": 493, "end_step": 618, "id": "352e53ce-9049-4171-b64a-fdfc2e539abf"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "goal", "start_step": 619, "end_step": 704, "id": "5e96fe99-030d-419e-b475-81a792b0fda8"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 705, "end_step": 880, "id": "8deb6afc-79d4-48b3-a2c9-e655f1d13269"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 956, "id": "e4426b18-c5f8-45cf-8416-ff2e49f1c27e"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 957, "end_step": 1106, "id": "877e2d82-755a-4fa4-9f8f-50b2e51b5501"}, {"label": "subtasks", "start_step": 968, "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: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1107, "end_step": 1183, "id": "61cebb38-035c-42a1-9abc-8cff4c2c15dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1184, "end_step": 1299, "id": "e18aa357-df2f-4c26-b619-9ac4826ee4cf"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 1300, "end_step": 1415, "id": "b988afde-a7be-4e30-8521-64b4d81fb969"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "goal", "start_step": 1416, "end_step": 1541, "id": "5fced312-ce71-4180-91c4-cab5f9dea640"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "goal", "start_step": 1542, "end_step": 1607, "id": "3ae871e9-1f66-4905-97b8-23ca651aa6bb"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 1608, "end_step": 1689, "id": "e93c6b3f-dfc1-48f9-8ea5-db4ec16501f9"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "goal", "start_step": 1690, "end_step": 1763, "id": "a6bbee33-ea11-4594-ad82-1d3f95f043f6"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "goal", "start_step": 1764, "end_step": 1899, "id": "9d6495c1-b25a-43ad-bee1-ad74896673b5"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 1923, "end_step": 1948, "id": "-x3rI6NuoE1pTFnpI9xA0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white hexagonal block on the front-left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left purple peg, with fingers closing around the block."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the green hexagonal block supporting it below on the peg."}, {"label": "subtasks", "start_step": 105, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward along the purple peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table to the left of the wooden pegboard, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 157, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the leftmost vertical peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost vertical peg of the wooden pegboard by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing around it."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the green base and transports it upward and rightward to the top of the leftmost peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 345, "end_step": 381, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_place: Right hand aligns the white hexagonal nut with the leftmost peg of the wooden pegboard, fits it onto the peg, and lowers it to the supported position at the bottom of the peg."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the leftmost peg of the wooden pegboard without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places and releases the white hexagonal block onto the leftmost front peg of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to the position above the leftmost front peg."}, {"label": "subtasks", "start_step": 548, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost front peg, fits it onto the peg and slides it down to the lower white block on the peg."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits and releases the white ring on the leftmost peg."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with closing fingers."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table and transports it toward the front-right purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the front-right purple peg by aligning the piece's hole with the peg and inserting the peg into the hole."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal piece downward along the front-right purple peg to seat it firmly."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the front-right purple peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical ring onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 968, "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: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to above the middle peg of the wooden peg board."}, {"label": "subtasks", "start_step": 990, "end_step": 1071, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg and inserts it downward onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece from the table and transports it upward and leftward to the area above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg on the wooden rack, aligning the piece's central hole with the peg and lowering the piece down until it is fully fitted onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece from the right side of the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal piece on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty near the purple rod on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1551, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the rightmost peg of the wooden base, with fingers opening and moving away from the rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cube onto the purple rod by aligning the hole and lowering the cube down the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cube by opening its fingers and separating from the cube."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty next to the purple rod on the wooden base without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped cap onto the rightmost bottle with a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches down toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches toward the green square block on the dark table surface and grasps it with fingers closing around the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the rightmost white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green square block with the rightmost white bottle and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 1822, "end_step": 1889, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green square block down along the rightmost white bottle to push it to the bottom position."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green square block, with fingers opening and separating from the block."}], "episode_index": 30}
+{"source_uid": "facf5c89374de42d", "num_frames": 2220, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "35320456-897e-4ac3-8fff-38d1dadac1a6"}, {"label": "valid", "start_step": 0, "end_step": 2193, "id": "zasdL3PPhTs3E6Kixfjnt"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"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 obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 137, "end_step": 234, "id": "c2863eb3-d32e-4d88-92e5-841c364513ff"}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "goal", "start_step": 235, "end_step": 310, "id": "eeb6ab5c-11c6-473f-a6ad-aa88e53c495b"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "goal", "start_step": 311, "end_step": 466, "id": "855b5d3d-13a7-4a8c-9ab3-33353ed85f62"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 467, "end_step": 540, "id": "6167a6a3-3146-481c-8dec-93e8a2a2dae9"}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 541, "end_step": 640, "id": "cb370230-797f-4c3b-bc23-a63e8f3d6e77"}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 730, "id": "4631eecf-3592-4331-86a6-9bbaf8df961a"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "goal", "start_step": 731, "end_step": 840, "id": "54287a62-16e1-49a4-bb6c-0542436301aa"}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "goal", "start_step": 841, "end_step": 892, "id": "df87e4b8-2bb8-4f71-9327-d1e87928adb7"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 893, "end_step": 996, "id": "8bfe4faa-7cb3-4d20-b34a-30898e4a0c47"}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "goal", "start_step": 997, "end_step": 1064, "id": "7b43661f-77aa-4fae-b7e7-38030c0dd6b2"}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 1065, "end_step": 1224, "id": "a9687224-4dca-4ac7-95b0-4dc3114ee1bc"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "goal", "start_step": 1225, "end_step": 1278, "id": "8a011638-6c91-407a-8575-c10b666326d6"}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1279, "end_step": 1372, "id": "0c0c4a2d-f2cf-4f63-aea0-97970256dfd6"}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1373, "end_step": 1431, "id": "6c67ec6b-21a4-417d-ab63-e8a87942ef03"}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "goal", "start_step": 1432, "end_step": 1569, "id": "6cb3473b-2ee6-4d96-9d54-81f67d24c1ab"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 1570, "end_step": 1624, "id": "66731be8-dd71-4944-a881-8e2bf419a8af"}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "goal", "start_step": 1625, "end_step": 2194, "id": "8557d868-09d2-435c-8088-8433407604da"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}, {"label": "home", "start_step": 2194, "end_step": 2219, "id": "sCbYzoWea0_cVpZQYt-5f"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves towards the green hexagonal block located on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"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 obvious movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the green block onto the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the green block down along the purple rod until it is fitted in place."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the test tube rack."}, {"label": "subtasks", "start_step": 352, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the test tube rack and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 465, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 472, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block from its grip."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white hexagonal block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 578, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the white hexagonal block with a purple rod on the wooden rack and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white ring on the purple peg, with fingers opening gradually."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand moves downward away from the wooden base after releasing the ring."}, {"label": "subtasks", "start_step": 720, "end_step": 734, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: idle: Right hand remains empty near the table surface without moving."}, {"label": "subtasks", "start_step": 735, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, inserts it onto the post and presses it down to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block on the peg and moves slightly away."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden board and releases it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1297, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers closing."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1551, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: press: Right hand presses the bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 1582, "end_step": 1627, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube placed on the table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 1672, "end_step": 1769, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand attempts to mate the green cube onto the bottle with purple cap, then the cube falls onto the table."}, {"label": "subtasks", "start_step": 1770, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: reach: Right hand moves toward the green cube that fell onto the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: lift_transport: Right hand lifts the green cube and transports it above the bottle with purple cap."}, {"label": "subtasks", "start_step": 2085, "end_step": 2167, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: mate: Right hand mates the green cube onto the bottle with purple cap successfully."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without obvious movement. | Right hand: retreat: Right hand retreats from the wooden tray to the right side of the table."}], "episode_index": 31}
+{"source_uid": "a81d9a09ad318444", "num_frames": 2264, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 126, "id": "0e7d700d-fc25-4775-a82c-0ae87e3382ae"}, {"label": "valid", "start_step": 0, "end_step": 2233, "id": "14Uvrqgnxotdtd0OIZLc1"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "goal", "start_step": 127, "end_step": 246, "id": "9749b927-780c-4a71-884e-8830dd2d190b"}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "goal", "start_step": 247, "end_step": 315, "id": "c1d866c7-2194-40be-9d21-2e8400ee77a7"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "goal", "start_step": 316, "end_step": 429, "id": "fbadcab6-9199-46de-b39e-f4add02efda7"}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "goal", "start_step": 430, "end_step": 513, "id": "3c3aa968-6839-42d2-ae74-407ffbd48a16"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "goal", "start_step": 514, "end_step": 677, "id": "eab606b1-eda2-4d21-a784-7a020f052f8b"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 678, "end_step": 761, "id": "93443bd6-c65c-4763-a7b9-71818babe097"}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 762, "end_step": 899, "id": "bb93025e-b652-4089-921f-a990fc0c9e6b"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "goal", "start_step": 900, "end_step": 971, "id": "3e658616-e8c7-40a5-a5e6-8d85006164cc"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "goal", "start_step": 972, "end_step": 1273, "id": "60f807cd-97b8-4ab8-8b2a-d31deeafab75"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "goal", "start_step": 1274, "end_step": 1391, "id": "235e4abf-dd76-45c7-89f5-280004ab5a9b"}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1392, "end_step": 1551, "id": "41f23f46-c519-438c-9a4b-4ea63a9d9625"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1552, "end_step": 1633, "id": "56e9dbae-e3d9-4c24-8800-e475563f4d96"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1634, "end_step": 1805, "id": "0c40e1d8-b408-4b3a-b7fe-6f2af283ab93"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1806, "end_step": 1873, "id": "2510535b-76cb-47a7-b243-08941e3a9792"}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "goal", "start_step": 1874, "end_step": 1981, "id": "9e5596b7-7bb1-469f-8523-958650c8fd8d"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "goal", "start_step": 1982, "end_step": 2039, "id": "58c26b65-65ba-4b40-980a-e1f70dc282d0"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "goal", "start_step": 2040, "end_step": 2189, "id": "6c944342-c230-4f72-9230-39a055d55747"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}, {"label": "home", "start_step": 2234, "end_step": 2263, "id": "bwu4D_s0QRdr6OqLL-ksn"}], "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 any observable movement. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal block in front of the wooden rack, with fingers extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand adjusts wrist position and closes fingers around the green hexagonal block to establish a grip."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 165, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit the block onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand stays in contact with the blocks on the wooden pegboard without observable movement."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block to form a stable grasp, with the block still supported by the table."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand carries the white hexagonal nut backward and upward to the position directly above the front-left purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the front-left purple peg, moves the nut downward, and adjusts its position slightly to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand holds the white topped cylindrical block, moves it downward to position it on the wooden peg above the green block, with fingers opening slightly to release the block once it is supported."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden block assembly toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, adjusting finger positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward from the black table surface, with fingers closed firmly around the nut."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand transports the held white hexagonal nut upward and forward toward the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 562, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the held white hexagonal nut with the target purple peg, making slight positional adjustments to nest the nut onto the peg."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: place_release: Right hand guides the white hexagonal block down the purple peg on the wooden pegboard until it rests on the lower blocks, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach_grasp: Right hand moves downward toward the nearby white hexagonal block on the black table surface, and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 750, "end_step": 801, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block near the wooden base, making minor adjustments to form a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and horizontally to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, lowers the block to fit it onto the peg, and makes small positional adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut placed on the purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the green hexagonal nut on the black table surface, remaining empty without touching the target nut."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal nut on the table to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut off the table surface and carries it upward to the position directly above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reorient: Right hand rotates the gripped green hexagonal nut slightly to adjust its orientation while holding it above the purple peg, with minimal translational movement."}, {"label": "subtasks", "start_step": 1110, "end_step": 1259, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and slides the nut downward along the peg to form the nested assembly connection."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downwards through the air from the area near the wooden peg assembly toward the white hexagonal nut resting on the dark table surface next to the green nut, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1305, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table and moves it upward toward the purple peg on the nearby wooden assembly base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1544, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, making small positional adjustments while lowering it to fit onto the green hexagonal block already mounted on the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward and rightward from above the stacked blocks toward the white hexagonal block on the table near the wooden base, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and closes fingers around the block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: retreat: Right hand, now empty, moves away from the assembled white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position toward the white hexagonal block resting on the table, with fingers spread in preparation for grasping."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, rotates it about half a turn to point its hole downward, and moves it leftward to the position above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical post and lowers the block to fit onto the post, establishing the assembled connection."}, {"label": "subtasks", "start_step": 1972, "end_step": 1979, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block, leaving it secured on the purple vertical post."}, {"label": "subtasks", "start_step": 1980, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: reach: Right hand moves downward from the area above the white bottles toward the green cube on the table, remaining empty as it approaches the cube."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: grasp: Right hand closes its fingers around the green cube on the table to establish a stable grip on the cube."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green cube off the table surface and moves the cube upward to position it above the purple post on the rightmost white bottle."}, {"label": "subtasks", "start_step": 2085, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any observable movement. | Right hand: mate: Right hand aligns the hole of the green cube with the purple post on the white bottle, adjusts the cube's position, and lowers it to fit onto the post."}], "episode_index": 32}
+{"source_uid": "9fe0c612ffba510d", "num_frames": 1877, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "goal", "start_step": 0, "end_step": 114, "id": "0caf0f9c-bf0f-4326-b484-ca01b01aa5a8"}, {"label": "valid", "start_step": 0, "end_step": 1851, "id": "ljqE97Fmr-zznKtXzNyfR"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 115, "end_step": 234, "id": "6f17c396-5f43-4bcd-baaa-cf8a962fa445"}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 235, "end_step": 302, "id": "bb3561ff-c204-479c-9302-e0949e834a88"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 303, "end_step": 426, "id": "5c01c44a-8be1-4b36-8580-05e80069e3f5"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 427, "end_step": 480, "id": "c7138101-b320-422d-a134-734a1f6e8089"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 602, "id": "5ec9fc9b-81f0-4a34-b31d-e7c8d2556eb6"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "goal", "start_step": 603, "end_step": 680, "id": "da243573-c8ef-489b-8bb3-2d24da1b8a54"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "goal", "start_step": 681, "end_step": 784, "id": "97784acc-3fe8-4609-b2fb-1eb37e3fcc33"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "goal", "start_step": 785, "end_step": 882, "id": "c23e639e-9f4e-4ebe-887d-780d9c6a2a75"}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "goal", "start_step": 883, "end_step": 1000, "id": "03187d51-592e-4d09-9afb-9707b27a917a"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "goal", "start_step": 1001, "end_step": 1076, "id": "a7766855-2809-4df4-acf1-45901cd59138"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1077, "end_step": 1218, "id": "1fb096cf-a109-45d2-81f1-261744d33960"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "goal", "start_step": 1219, "end_step": 1294, "id": "368a831d-cbfa-4b90-9071-e8f36c510b58"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1295, "end_step": 1394, "id": "d392811e-8fca-4276-ac10-826454339be5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "goal", "start_step": 1395, "end_step": 1496, "id": "b3eb556f-f83d-4c91-8908-88144b660784"}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1497, "end_step": 1626, "id": "8612754d-f58e-4671-b418-e198f36c5cba"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "goal", "start_step": 1627, "end_step": 1680, "id": "de566b7a-1fc1-4948-9a64-b91b45fdd35c"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "goal", "start_step": 1681, "end_step": 1818, "id": "30c693d9-8509-43ef-b41e-7a787ed57944"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}, {"label": "home", "start_step": 1852, "end_step": 1876, "id": "2_iXm2YqTxKWH8eZVkzUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger and palm posture at the left side of the table, with no obvious overall displacement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger and palm posture at the right side of the table, with no obvious overall displacement."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the black table to the left of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 158, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 172, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the white ring onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the tabletop and transports it toward the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal nut onto the front-left purple peg of the rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 368, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal nut on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece onto the purple peg of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the black table surface and transports it upward toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost purple peg on the wooden base and inserts it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table by closing its fingers around the block."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, fingers closing around the piece."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the white hexagonal piece onto the purple peg, lowering the piece to fit onto the peg."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening and separating from the piece."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: place_release: Right hand places the white ring onto the purple peg of the stacking set and releases the grip."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green hollow hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 825, "end_step": 891, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green hollow hexagonal block on the table, with fingers adjusting continuously to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the green square block up from the table surface and moves it upward and rightward to the top of the middle purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_place: Right hand aligns the green square block with the middle purple rod, inserts it onto the rod, and slides it down to the supporting base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the green square block on the middle purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate_release: Right hand mates the green square block onto the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the peg on the wooden base and inserts it downwards for assembly."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp_release: Right hand adjusts its grasp on the white cylinder on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal blocks on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: idle: Right hand stays empty beside the white hexagonal blocks on the table without moving."}, {"label": "subtasks", "start_step": 1282, "end_step": 1289, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach_grasp: Right hand reaches for the upper white hexagonal block on the table and grasps it."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod until it reaches the bottom position."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and moving slightly upward."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1507, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the white hexagonal object on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts the white square block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand aligns the white square block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1612, "end_step": 1619, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: hold: Right hand holds the white square block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the front-right white bottle cap."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: reach: Right hand moves downward toward the green square block on the workbench surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: grasp: Right hand grasps the green square block on the workbench with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: lift_transport: Right hand lifts and transports the green square block upward toward the front-right white bottle."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: mate: Right hand mates the green square block onto the front-right white bottle by aligning and fitting it over the bottle."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, without contacting any operating object. | Right hand: release: Right hand releases the green square block on the front-right white bottle."}], "episode_index": 33}
+{"source_uid": "703a71220ee9bee6", "num_frames": 2209, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "goal", "start_step": 0, "end_step": 130, "id": "a750ab42-42f8-4def-888e-664cd0e36302"}, {"label": "valid", "start_step": 0, "end_step": 2182, "id": "2cB7j1DSJtIipZymAdPKr"}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "goal", "start_step": 131, "end_step": 272, "id": "3cabf69b-1ac8-4dc8-a4b7-9b4a4d24bde2"}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "goal", "start_step": 273, "end_step": 338, "id": "f6842f0c-6528-485d-ab43-81b2f2a642ee"}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 339, "end_step": 458, "id": "48d15e10-9f50-49a3-ac09-aeb3565b8380"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "goal", "start_step": 459, "end_step": 575, "id": "ebb3a755-875c-493d-986d-e7b9a539ad69"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 576, "end_step": 707, "id": "42116774-62ac-4193-92cf-577d014da07e"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "goal", "start_step": 708, "end_step": 785, "id": "fb34938c-0843-4290-a572-02061230ff09"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 786, "end_step": 885, "id": "3f22e731-20ad-4a99-9c94-940b6124d4f3"}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "goal", "start_step": 886, "end_step": 947, "id": "9ef1c3c2-cb33-41f7-b79f-3138e4137e20"}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 948, "end_step": 1061, "id": "dac7146c-9e0d-4f4d-8f88-155642f63d75"}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1062, "end_step": 1135, "id": "49aae345-fce8-4bfb-8cca-9117b10d3d40"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1136, "end_step": 1257, "id": "b24f739f-c4cd-432c-b3cb-404784b83605"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1258, "end_step": 1327, "id": "66d8aff9-9e90-4d8a-bcb1-f3cecd209341"}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1328, "end_step": 1693, "id": "c33696da-be52-4e61-bed2-b7307ba95263"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1694, "end_step": 1771, "id": "9ec99aaa-0b51-49bf-a0ff-41e18b4dd363"}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1772, "end_step": 1973, "id": "1fe36bd0-6bf5-4e22-a26d-be25b73b7fc6"}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1974, "end_step": 2033, "id": "74b9577e-6204-4e5a-9c98-42831d7f6d3b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "goal", "start_step": 2034, "end_step": 2167, "id": "b4653856-be52-42e7-8644-c76e8acc4cb8"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "home", "start_step": 2183, "end_step": 2208, "id": "nZP1FxulmR1jn4et0Zrv0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the wooden base at the center of the table without touching it."}, {"label": "subtasks", "start_step": 52, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand contacts the edge of the wooden base, fingers adjust to establish a stable grasp on the base."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the green block to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release_retreat: Right hand releases the green block and retreats upward from the assembly area."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple post of the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward toward the empty purple post on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 442, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: hold: Right hand holds the newly placed white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white ring onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 569, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: idle: Right hand remains empty near the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downwards from the wooden base with stacked blocks towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod and then releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white ring placed on the peg of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press_release: Right hand presses the green hexagonal block down along the peg to fix it in position, then releases the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1589, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 1590, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the other white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift: Right hand lifts the white block upwards away from the black tabletop."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1964, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: release: Right hand releases the white cylinder onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: reach: Right hand moves towards the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: grasp: Right hand grasps the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: lift_transport: Right hand lifts the green square block and moves it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: mate: Right hand fits the green square block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the left side of the wooden base of the building block set without moving. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00057", "text": "Left hand: retreat: Left hand moves away from the wooden tray towards the left side. | Right hand: retreat: Right hand moves away from the wooden tray towards the right side."}], "episode_index": 34}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5140f817908f65ff924b25ac67314fe4430bd9a0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f9da6adab0aa860b37d277b5926d4d7edc9b9bc5b77d2b63c9bbed6c3c93f55
+size 1040014
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b061582b8ba8f80429e4519848310e6739e0a4e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 35,
+    "total_frames": 76517,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:35"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c242a5f433b3bccb9ed1b0b7c9a17abb1e10d278
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "action": {
+        "min": [
+            1.0440924167633057,
+            -0.8331277966499329,
+            -0.22482407093048096,
+            0.9262072443962097,
+            -0.25863584876060486,
+            -0.8599042892456055,
+            0.003551749512553215,
+            0.0,
+            -0.15127943456172943,
+            -0.34977519512176514,
+            0.0,
+            0.0,
+            0.0,
+            -0.2966325879096985,
+            0.0,
+            0.0,
+            0.0,
+            -0.23704805970191956,
+            0.0,
+            0.0,
+            0.0,
+            -0.2535755932331085,
+            0.0,
+            0.0,
+            -9.732474381962675e-09,
+            0.0,
+            -0.216318279504776,
+            0.0,
+            0.0,
+            0.9255722165107727,
+            -1.2072113752365112,
+            -0.2436121553182602,
+            0.9060742855072021,
+            -1.7609750032424927,
+            -0.935242772102356,
+            -0.5170425772666931,
+            0.0,
+            -0.29503923654556274,
+            -0.33741578459739685,
+            -0.28927382826805115,
+            0.0,
+            0.0,
+            -0.26321959495544434,
+            0.0,
+            0.0,
+            0.0,
+            -0.2619909346103668,
+            0.0,
+            0.0,
+            0.0,
+            -0.1924557387828827,
+            0.0,
+            0.0,
+            0.0,
+            -0.002576682949438691,
+            -0.20340047776699066,
+            0.0,
+            0.0,
+            0.562396228313446,
+            -1.1071503162384033,
+            0.46179041266441345,
+            -0.06368353962898254,
+            -0.08599187433719635,
+            -0.07801662385463715,
+            -0.7527185678482056
+        ],
+        "max": [
+            1.3052033185958862,
+            -0.476547509431839,
+            3.505789959346744e-17,
+            1.6423457860946655,
+            0.3538418412208557,
+            0.3687285780906677,
+            0.7135801315307617,
+            1.4588936567306519,
+            0.2948056757450104,
+            0.006061067804694176,
+            0.30099043250083923,
+            0.5102285742759705,
+            0.5580971240997314,
+            0.1282622218132019,
+            0.054770078510046005,
+            0.045573364943265915,
+            0.5298560261726379,
+            0.20203806459903717,
+            0.2648841440677643,
+            0.05847947299480438,
+            0.2776813507080078,
+            0.24167314171791077,
+            0.07556507736444473,
+            0.03336801752448082,
+            0.26180002093315125,
+            0.3973185122013092,
+            0.2923276722431183,
+            0.16678166389465332,
+            0.07939642667770386,
+            1.5845991373062134,
+            -0.24782279133796692,
+            4.550925714990349e-17,
+            1.884641170501709,
+            0.2893936038017273,
+            0.029852161183953285,
+            0.9564634561538696,
+            1.5446810722351074,
+            0.28251662850379944,
+            0.2749365270137787,
+            0.30891498923301697,
+            1.263132929801941,
+            1.3123353719711304,
+            0.14233151078224182,
+            1.1478731632232666,
+            0.901142954826355,
+            1.5330392122268677,
+            0.26586198806762695,
+            1.5054420232772827,
+            1.4034639596939087,
+            1.525293231010437,
+            0.28072312474250793,
+            1.5450830459594727,
+            1.3715519905090332,
+            0.26180002093315125,
+            1.5236440896987915,
+            0.3039412796497345,
+            1.5182744264602661,
+            1.4761470556259155,
+            0.5626999735832214,
+            -1.106863021850586,
+            0.6485925316810608,
+            0.05244050547480583,
+            0.06777544319629669,
+            0.1041201502084732,
+            -0.4911477267742157
+        ],
+        "mean": [
+            1.1804340338746542,
+            -0.6519315806400733,
+            -0.2213250110349798,
+            1.2397635687970607,
+            0.06251717672902031,
+            -0.07422184128320246,
+            0.3723849099467951,
+            1.289618758362155,
+            0.271893857514467,
+            -0.18423933155174207,
+            0.22287785278646552,
+            0.3308529870623239,
+            0.27547442611339856,
+            0.05313533385006213,
+            0.029387440392936788,
+            0.027894155444773517,
+            0.1238767611796182,
+            0.09682357184617049,
+            0.043644628563309834,
+            0.019688406229580006,
+            0.03364601078238894,
+            0.11945448591770613,
+            0.005766955326627629,
+            0.005133670547304681,
+            0.23659187240267388,
+            0.06590693079783393,
+            0.24419156582977244,
+            0.02060721985110088,
+            0.013335540421790304,
+            1.3100394450834705,
+            -0.6490371107497372,
+            -0.22549121152812948,
+            1.3170528026756776,
+            -1.2400708573980985,
+            -0.38696892144082795,
+            -0.051343822201996986,
+            1.2418739024112477,
+            0.03504872996247855,
+            -0.05359566093558103,
+            -0.03785356667423759,
+            0.38062536716110645,
+            0.8962915023407332,
+            0.03481883843865696,
+            0.22616493810406746,
+            0.3485365740274541,
+            1.318248804477394,
+            -0.06537709464032473,
+            1.2077526815861421,
+            1.0226168957588162,
+            1.369508421346114,
+            -0.11066630183275535,
+            1.3446643483500573,
+            0.9631960761527303,
+            0.1368318075111607,
+            1.3983093904299462,
+            -0.09362246948612565,
+            0.8210541605871504,
+            1.3023740948434486,
+            0.5626929362452404,
+            -1.1068553000932766,
+            0.567888062436842,
+            -0.00391834807206321,
+            0.01071669964298459,
+            0.028562103319705358,
+            -0.650693638142271
+        ],
+        "std": [
+            0.046156818241324137,
+            0.07148845142729096,
+            0.019432952646697095,
+            0.13255229813425998,
+            0.08475858699190834,
+            0.21258482361592673,
+            0.12342115528377481,
+            0.15665418998911795,
+            0.04052491989574578,
+            0.07711328828068892,
+            0.06713112134118585,
+            0.08962377259316363,
+            0.10713673716407926,
+            0.04028950250034768,
+            0.008867241374272809,
+            0.007742711798711693,
+            0.11030152443439736,
+            0.04775224015764868,
+            0.043948150549919095,
+            0.013283609689097453,
+            0.06469956962300123,
+            0.05510087872026047,
+            0.010336366888234295,
+            0.00871622513550397,
+            0.05257569651670554,
+            0.08627905113933972,
+            0.05709966460251838,
+            0.02302104791336164,
+            0.013333060474727461,
+            0.11591703204447638,
+            0.16306493436144442,
+            0.02352392927074751,
+            0.19474307020045298,
+            0.3182342673632104,
+            0.14261322712799784,
+            0.23308342372793936,
+            0.1566107674713535,
+            0.09089577150928005,
+            0.08427443108866155,
+            0.1456770339198881,
+            0.26475037952524755,
+            0.21896914522432817,
+            0.02963317822688063,
+            0.18728718883674925,
+            0.1780357481828139,
+            0.2465830186247509,
+            0.03489864141461999,
+            0.2750671129332679,
+            0.2628879791677788,
+            0.26009105481782735,
+            0.04281544127324126,
+            0.2916811073357784,
+            0.25100882247993445,
+            0.04066899824526065,
+            0.26830666302656964,
+            0.07432700296098993,
+            0.2866390550974651,
+            0.285236533679977,
+            0.0005180102040776921,
+            0.002753466283004723,
+            0.027619661040245307,
+            0.015319796351622554,
+            0.020965629459532915,
+            0.026380081295946385,
+            0.03715611757777038
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            1.0977534468750343,
+            -0.7601785063788068,
+            -0.22380298918432673,
+            1.1686944023701873,
+            -0.1037951062075398,
+            -0.6730975056266527,
+            0.2608006014683268,
+            0.2911146872650128,
+            0.01471615609356672,
+            -0.28219546949982927,
+            0.019754699257706877,
+            0.017702339388393072,
+            0.011331004492901921,
+            -0.049585763148756616,
+            0.0014957538638261316,
+            0.0014993163064367723,
+            0.00041378050272133227,
+            -0.04108134482278927,
+            0.0003229044473106272,
+            0.00016525018120186,
+            -7.31143647393626e-11,
+            -0.04756828260448827,
+            -7.31143647393626e-11,
+            -7.31143647393626e-11,
+            0.02351214566217711,
+            -9.725419526438027e-11,
+            -0.013607770907521667,
+            -9.725419526438027e-11,
+            -9.725419526438027e-11,
+            1.03492573647623,
+            -1.048702490786652,
+            -0.24280581714954666,
+            1.0611031214430164,
+            -1.621246844483212,
+            -0.7318290414225422,
+            -0.37893862265375555,
+            0.1500232577417039,
+            -0.1970206311832396,
+            -0.2575875473753571,
+            -0.2447711054797558,
+            0.006381870678164916,
+            0.01793741421194164,
+            -0.061793324767235605,
+            0.0022886215239142625,
+            0.002336004091771378,
+            0.0014058645344674772,
+            -0.1086709839745308,
+            0.0007163911518075488,
+            0.00047054464666545744,
+            -1.000000013351432e-10,
+            -0.14882059641889922,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.005180458321805396,
+            -1.5786508485592404e-06,
+            -0.14715567856527723,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5626833442850441,
+            -1.106889065619853,
+            0.5310496549539532,
+            -0.01350798522754623,
+            -0.015064923692642665,
+            -0.011063241860699582,
+            -0.7017235872582226
+        ],
+        "q10": [
+            1.1360360166860584,
+            -0.6940095640577846,
+            -0.22375610709828941,
+            1.1797774283804816,
+            0.009087737775600754,
+            -0.24871758797624793,
+            0.28882981097135696,
+            1.2562586924387227,
+            0.25945147072654406,
+            -0.23671199544698174,
+            0.16541154591717813,
+            0.2930973720322836,
+            0.22926819853962802,
+            0.02644515215364769,
+            0.025258570734226257,
+            0.024537561680409856,
+            0.08317211784601648,
+            0.06708508172991122,
+            0.0332403299647899,
+            0.014780155972781348,
+            0.0153600300694777,
+            0.08063997105116745,
+            0.0030021161814128665,
+            0.002525600692131865,
+            0.21968876543364563,
+            0.03557233098539897,
+            0.21699816316859957,
+            0.012016542300826195,
+            0.008050838201657579,
+            1.1596894780451694,
+            -0.8693253880684094,
+            -0.24013316666635856,
+            1.11685273636021,
+            -1.5281847711747951,
+            -0.563638515021966,
+            -0.26668176905480057,
+            1.1575265594426825,
+            -0.09972382187026375,
+            -0.17180254438138728,
+            -0.1895858022488863,
+            0.058131935515244974,
+            0.6763862376722176,
+            0.005360462768509143,
+            0.06336585791837614,
+            0.15288694989776075,
+            1.3219991687578168,
+            -0.08909011225810445,
+            1.17519641556887,
+            0.989235610942848,
+            1.3944123035909979,
+            -0.1340135803109091,
+            1.3549053091972392,
+            0.9052981513246667,
+            0.10873188046804895,
+            1.4269685155111513,
+            -0.13015918689578065,
+            0.6973373610289709,
+            1.3366464540930276,
+            0.5626833497175027,
+            -1.106863021850586,
+            0.5581324212262719,
+            -0.008292303356607533,
+            0.00039992304963161403,
+            0.004175512227589378,
+            -0.685531737425121
+        ],
+        "q50": [
+            1.1799429150031746,
+            -0.6441426416632241,
+            -0.22365794865022434,
+            1.2205074793498842,
+            0.07046554767479359,
+            -0.030902384961755187,
+            0.35410006466900434,
+            1.3105050916251952,
+            0.27980224147417543,
+            -0.18055849639562122,
+            0.22615596426378773,
+            0.3415799392009713,
+            0.2797154509177966,
+            0.05903552003648629,
+            0.029894648386640334,
+            0.02846032435537144,
+            0.12046446916983027,
+            0.10310491602458119,
+            0.04405621688177677,
+            0.0198735054671338,
+            0.030397578982714182,
+            0.12670634462060515,
+            0.005283117823802931,
+            0.004644763406556247,
+            0.24402134645023327,
+            0.0693451582974338,
+            0.2577424356086493,
+            0.022130040558856662,
+            0.014186586075335728,
+            1.336043258380268,
+            -0.6350189998954903,
+            -0.22888596337967906,
+            1.258796500776595,
+            -1.2985418697826834,
+            -0.37432532792311546,
+            -0.10359888387800498,
+            1.2679218149542628,
+            0.058393180955304914,
+            -0.0444993055819497,
+            -0.06904245179095357,
+            0.36516058095995374,
+            0.9197472170794793,
+            0.036782698142225935,
+            0.1786312361890348,
+            0.35131630282526377,
+            1.368803085166332,
+            -0.06944710488098396,
+            1.262278324047831,
+            1.0686981962371802,
+            1.4234715555367707,
+            -0.11742178210532862,
+            1.4082178666449263,
+            1.0083031772251083,
+            0.1341581054771904,
+            1.4549820122860317,
+            -0.10787763096898427,
+            0.8464272351266501,
+            1.3693656850797593,
+            0.5626833738617631,
+            -1.106863021850586,
+            0.5692815953044352,
+            -0.004057890897636068,
+            0.011187047355622612,
+            0.030139551380190456,
+            -0.655049694921328
+        ],
+        "q90": [
+            1.228051792184418,
+            -0.6198099826689202,
+            -0.22344178826674063,
+            1.3286514441370136,
+            0.09956989187669787,
+            0.058399805768735116,
+            0.4795036497071255,
+            1.3455363392348467,
+            0.28707552856320595,
+            -0.1401060819874085,
+            0.2785430007616652,
+            0.36316443295800577,
+            0.3305156215493153,
+            0.07500487253467443,
+            0.034189079642294964,
+            0.03182415270414081,
+            0.17834522274000852,
+            0.12616240618902824,
+            0.055832518415653544,
+            0.025660766733460325,
+            0.05888419791618263,
+            0.1591498328478877,
+            0.009517122397042657,
+            0.00867466351716595,
+            0.25445811140629476,
+            0.0944621184325074,
+            0.2722603023841485,
+            0.028160494284330352,
+            0.01806446166314046,
+            1.4357070668657363,
+            -0.44341069416873863,
+            -0.2124502734684536,
+            1.6106533205710007,
+            -0.9585150455898793,
+            -0.22823187079377974,
+            0.21939253367929218,
+            1.3362595636919985,
+            0.11905072304256367,
+            0.032878425550743634,
+            0.19106060799109925,
+            0.7301209453274068,
+            1.1235180101417226,
+            0.06506487071359777,
+            0.48064634539701223,
+            0.5323650924159176,
+            1.4014748615992352,
+            -0.04701788892050161,
+            1.3452398779358923,
+            1.1428582117863717,
+            1.4412146974758004,
+            -0.09799541609506059,
+            1.452567802817619,
+            1.0987759180340597,
+            0.1682322097057615,
+            1.467581473498111,
+            -0.06589271292942016,
+            0.9950348422008013,
+            1.3886421613552136,
+            0.5626833980060234,
+            -1.106863021850586,
+            0.5772948889802655,
+            0.001037653980541001,
+            0.02068063069634256,
+            0.04901244584100943,
+            -0.6079264144561584
+        ],
+        "q99": [
+            1.2406853799051516,
+            -0.6081461950668837,
+            -0.11020188629485647,
+            1.4910702789711756,
+            0.11847790069086696,
+            0.07888936123052154,
+            0.6068929518972279,
+            1.3610901946181158,
+            0.2885613345454013,
+            -0.017704685546566817,
+            0.2900096621123815,
+            0.3688796292878064,
+            0.359679489934563,
+            0.08015480367297345,
+            0.03623611615959551,
+            0.03353114319440675,
+            0.19610145201456938,
+            0.132184887390185,
+            0.06026981278108591,
+            0.027206646130950973,
+            0.067620294249802,
+            0.16974139792385518,
+            0.0106950926660398,
+            0.009774304462649576,
+            0.25966573083337796,
+            0.10173556537549136,
+            0.2758234902833236,
+            0.030700368705377304,
+            0.019145662588583467,
+            1.481977031699198,
+            -0.38687089411015213,
+            -0.10938901145024674,
+            1.7356022707906098,
+            0.038793183558736614,
+            -0.13217544903613587,
+            0.6987748498130847,
+            1.3796793365364886,
+            0.18609105161575365,
+            0.08263864099085917,
+            0.29256859472154595,
+            0.9852845066854796,
+            1.188542110175561,
+            0.08488913148734477,
+            0.7244190622429558,
+            0.6463899943115012,
+            1.4263956930708523,
+            0.10568937024779736,
+            1.4041366269835567,
+            1.1992502369182287,
+            1.4550289638579261,
+            0.11658084871939992,
+            1.488187625171649,
+            1.1563326565263838,
+            0.26074535024553597,
+            1.4768609150897,
+            0.26105685969856807,
+            1.2541574202521106,
+            1.402736811602012,
+            0.5626866533079092,
+            -1.106863021850586,
+            0.581322844082285,
+            0.007617635210742265,
+            0.023420799144041167,
+            0.05872483129881317,
+            -0.5816113363316381
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5642957102581908
+                ]
+            ],
+            [
+                [
+                    0.5646950998786443
+                ]
+            ],
+            [
+                [
+                    0.5651641266337518
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.006532999854821771
+                ]
+            ],
+            [
+                [
+                    0.006637632845725166
+                ]
+            ],
+            [
+                [
+                    0.006504367098987276
+                ]
+            ]
+        ],
+        "count": [
+            1958835200
+        ],
+        "q01": [
+            [
+                [
+                    0.14256658322593369
+                ]
+            ],
+            [
+                [
+                    0.14726663030646187
+                ]
+            ],
+            [
+                [
+                    0.1423712089247682
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.20668250339907776
+                ]
+            ],
+            [
+                [
+                    0.20676702832404123
+                ]
+            ],
+            [
+                [
+                    0.2067693620457686
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.6760099733238415
+                ]
+            ],
+            [
+                [
+                    0.6755300871316673
+                ]
+            ],
+            [
+                [
+                    0.6774607985029353
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.9037899869915983
+                ]
+            ],
+            [
+                [
+                    0.9035027940331156
+                ]
+            ],
+            [
+                [
+                    0.904841559380644
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9921572312808488
+                ]
+            ],
+            [
+                [
+                    0.992157162524787
+                ]
+            ],
+            [
+                [
+                    0.9921572252795039
+                ]
+            ]
+        ]
+    },
+    "observation.state.joint_torque": {
+        "min": [
+            -43.487998962402344,
+            -18.31800079345703,
+            -24.31100082397461,
+            -11.937000274658203,
+            -0.9111999869346619,
+            -2.589600086212158,
+            -5.1479997634887695,
+            -4.616537094116211,
+            -1.0099073648452759,
+            -0.621344804763794,
+            -1.3905696868896484,
+            -0.4034422039985657,
+            -1.799954891204834,
+            -1.1292893886566162,
+            -0.13780125975608826,
+            -0.039242662489414215,
+            -0.520029604434967,
+            -0.6725844740867615,
+            -0.16104483604431152,
+            -0.03567514568567276,
+            -0.45574551820755005,
+            -0.6629897952079773,
+            -0.11953844130039215,
+            -0.038529157638549805,
+            -0.36151647567749023,
+            -1.01319420337677,
+            -0.648597776889801,
+            -0.5777691602706909,
+            -0.12343601882457733,
+            -10.086000442504883,
+            -16.912500381469727,
+            -10.859999656677246,
+            -14.559000015258789,
+            -3.342400074005127,
+            -9.255999565124512,
+            -5.786399841308594,
+            -4.554134845733643,
+            -2.8437869548797607,
+            -1.5918853282928467,
+            -2.755042791366577,
+            -0.49807682633399963,
+            -1.7798062562942505,
+            -1.1302489042282104,
+            -0.4250255823135376,
+            -0.17409472167491913,
+            -1.6474000215530396,
+            -1.2386683225631714,
+            -0.8500511646270752,
+            -0.21476440131664276,
+            -1.6282107830047607,
+            -0.7004088759422302,
+            -0.667422890663147,
+            -0.15554364025592804,
+            -0.21638213098049164,
+            -1.6128593683242798,
+            -2.029266834259033,
+            -1.037660002708435,
+            -0.16125167906284332,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -8.93850040435791,
+            17.969999313354492,
+            0.37299999594688416,
+            7.03000020980835,
+            2.7760000228881836,
+            2.251199960708618,
+            3.4951999187469482,
+            1.329562783241272,
+            0.4954022169113159,
+            1.4154233932495117,
+            0.7866225242614746,
+            0.16934612393379211,
+            0.9805724620819092,
+            0.6946520805358887,
+            0.11787818372249603,
+            0.026399608701467514,
+            0.4567049741744995,
+            0.864477276802063,
+            0.16270509362220764,
+            0.022832093760371208,
+            0.47205641865730286,
+            0.9431533217430115,
+            0.15440380573272705,
+            0.02354559674859047,
+            0.08224280178546906,
+            0.670665442943573,
+            2.1405646800994873,
+            0.10957689583301544,
+            0.022832093760371208,
+            50.49449920654297,
+            19.048500061035156,
+            25.790000915527344,
+            6.465000152587891,
+            0.9279999732971191,
+            4.019999980926514,
+            3.330399990081787,
+            2.9049160480499268,
+            5.018971920013428,
+            2.7724404335021973,
+            2.129969835281372,
+            1.0592433214187622,
+            2.154956579208374,
+            1.3835474252700806,
+            1.0658843517303467,
+            0.24758552014827728,
+            1.2252358198165894,
+            0.6447599530220032,
+            0.944685697555542,
+            0.21333740651607513,
+            1.3077497482299805,
+            0.7186387181282043,
+            0.7388139367103577,
+            0.20334836840629578,
+            0.49169760942459106,
+            1.4459125995635986,
+            1.0525323152542114,
+            0.8035640120506287,
+            0.20263484120368958,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -27.769258044973334,
+            1.4367737194879426,
+            -13.342026352133013,
+            -2.427886206540967,
+            0.06607614813317794,
+            -0.3007839631964466,
+            1.6593975189119545,
+            -0.0019102334716870689,
+            -0.0026442197787526905,
+            0.021450724718314957,
+            -0.005854593552975277,
+            0.00383960191379563,
+            0.02092542214015457,
+            0.020109126846641418,
+            0.0009467437734216192,
+            0.0002980196361395238,
+            0.00641746715514078,
+            0.004762229295188491,
+            0.0008432236058363468,
+            -1.7315754234063147e-05,
+            0.026985109683976216,
+            0.03203082056603012,
+            0.0001640142783580339,
+            -0.0016199988642433963,
+            -0.0017263153784447835,
+            0.014162186489109425,
+            0.031944585754436594,
+            -0.0002408237830474862,
+            -0.0016344073306681103,
+            27.60573732992372,
+            1.3148281614366357,
+            12.995034986100851,
+            -1.5342920688152506,
+            -0.6453780483598625,
+            1.4843064622051947,
+            -1.0027258510478487,
+            0.33376904450385103,
+            1.3631208037140432,
+            0.4854682201207606,
+            0.18279925797146127,
+            0.15048152724650746,
+            0.8570216096333856,
+            -0.11618684060227769,
+            0.3718694167102279,
+            0.09509543445563699,
+            -0.020908269666520336,
+            -0.048554189461523956,
+            -0.0010650193484088189,
+            -0.005875830571368365,
+            0.002525177538377476,
+            0.004795453156236577,
+            -0.001085760619623514,
+            -0.001841379170032559,
+            0.052836334105720854,
+            0.014430932842988199,
+            -0.05290822587272337,
+            -0.01311357369529365,
+            0.004087340214944501,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            1.4965218177568662,
+            1.1723444494743471,
+            1.0322945894921924,
+            0.9553470829901478,
+            0.40074608747097007,
+            0.42473186758066916,
+            0.3556297380355413,
+            0.0574684957870833,
+            0.03792853337826194,
+            0.07691876814999318,
+            0.07353700236935698,
+            0.012948245083034287,
+            0.0770540669898857,
+            0.08089607013508915,
+            0.008191742167447575,
+            0.0045843967376781964,
+            0.05175764977356511,
+            0.0568293300714619,
+            0.01566501866672583,
+            0.003819895433316143,
+            0.05222310525856393,
+            0.0823572337590744,
+            0.004080683666945622,
+            0.0057418931909226124,
+            0.012583317344199898,
+            0.05388176697988768,
+            0.12944937778730342,
+            0.01678699710585422,
+            0.00715343363009015,
+            4.3711796600539214,
+            2.0894681013618492,
+            1.792430578270227,
+            1.7826890341070638,
+            0.32744870046320623,
+            0.7285174047676307,
+            0.5253940891748048,
+            0.7880200059729494,
+            1.5634908449009686,
+            0.6241343134015751,
+            0.4663497595667949,
+            0.20774635720474122,
+            0.9453802639642458,
+            0.274977168719924,
+            0.4237664288615747,
+            0.09965935519801397,
+            0.1503915040924468,
+            0.13478146214289513,
+            0.0630400403480121,
+            0.029415271814218012,
+            0.06915180941741436,
+            0.06501634425392973,
+            0.0292467932700227,
+            0.010199456163227186,
+            0.12231803234696363,
+            0.10695033259840987,
+            0.1395460521923255,
+            0.04146234507936366,
+            0.006663781721546214,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            -29.18043358844549,
+            -0.8349490871285115,
+            -14.922126678511813,
+            -4.481705192654371,
+            -0.313419367597053,
+            -0.837272872276766,
+            1.024354746509849,
+            -0.19440850078914257,
+            -0.15460066930882949,
+            -0.2005762517845261,
+            -0.21935909194594108,
+            -0.03176284234999341,
+            -0.21634490329405878,
+            -0.3002084301978788,
+            -0.029698418135362475,
+            -0.018310738448259097,
+            -0.14273109354500954,
+            -0.2239874079508729,
+            -0.05539473295498836,
+            -0.017569283540213986,
+            -0.09388915890537876,
+            -0.26394281440182776,
+            -0.0070433599814530125,
+            -0.022050536452958264,
+            -0.05253835405973953,
+            -0.12973334848242396,
+            -0.2450486404769044,
+            -0.04478480833730671,
+            -0.027707437360425018,
+            15.716553526669008,
+            -2.439713756121156,
+            6.380347378724592,
+            -5.833266526936616,
+            -1.424335633686533,
+            -1.0484969836513307,
+            -2.636102893783685,
+            -1.339854418338915,
+            -0.5603711816602648,
+            -0.22881987800324277,
+            -0.7421232182627614,
+            -0.09230739197496904,
+            -0.3138224312341402,
+            -0.8930584112197542,
+            -0.0758930364418359,
+            -0.02364022121513678,
+            -0.4853520290492166,
+            -0.5608950555007711,
+            -0.19132547969142943,
+            -0.11780070209598976,
+            -0.1646911140632675,
+            -0.1702377731551893,
+            -0.08199290080216598,
+            -0.028652827502312763,
+            -0.08338657399399053,
+            -0.23932602269845812,
+            -0.47370048823980987,
+            -0.10012560878930209,
+            -0.019068402802888997,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16
+        ],
+        "q10": [
+            -28.42544529277357,
+            0.47452569899023345,
+            -14.018129436069609,
+            -3.1432976137559105,
+            -0.20088009674071083,
+            -0.67953579021518,
+            1.420298603549345,
+            -0.017176396048322287,
+            -0.01609042511808562,
+            -0.04865218220002122,
+            -0.08390097403934192,
+            -1.6934777760383204e-05,
+            -0.03796625189234901,
+            -0.0188885398222859,
+            -1.4353299359065504e-05,
+            -0.0009436673287011846,
+            -0.036202215410486065,
+            -0.02941803054758641,
+            -0.0022693405754979673,
+            -0.0007211988198672854,
+            -0.011443157902227616,
+            -0.016887505065583074,
+            -2.8531895473445954e-06,
+            -0.006360551701082563,
+            -0.005668893946130046,
+            -0.010687260153974988,
+            -0.005715597209588971,
+            -0.0017169106214784987,
+            -0.007461850940770907,
+            21.44145459249231,
+            -1.0100382097148048,
+            11.50657569921029,
+            -4.1485004569544595,
+            -1.032171963190078,
+            0.786090254905384,
+            -1.578969579932451,
+            -0.4314632600787598,
+            -0.20358210257555237,
+            -0.08280336617131796,
+            -0.2818958224663235,
+            -0.029830697410250375,
+            -0.14312586067893743,
+            -0.5109969100359971,
+            -0.024481723321282664,
+            -0.008156921506031176,
+            -0.15248943697206646,
+            -0.18620814274006361,
+            -0.04243646850134479,
+            -0.024311291502193275,
+            -0.056726591544684755,
+            -0.06889197592059321,
+            -0.02658063203905243,
+            -0.009554134603548895,
+            -0.0159479772073375,
+            -0.08157586645383168,
+            -0.2226137995349482,
+            -0.048847891168109135,
+            0.0005895747722798064,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15
+        ],
+        "q50": [
+            -27.899410003453866,
+            1.3924456689410403,
+            -13.321343683449326,
+            -2.3623299128790474,
+            0.0075576258069376435,
+            -0.4105168064975411,
+            1.6168249398689953,
+            0.0011676822058605887,
+            0.0002178271908828914,
+            0.01453141819820117,
+            -0.002226512943322411,
+            0.0005252319506714616,
+            0.007366946629459088,
+            0.007606281732916313,
+            3.881911992679378e-06,
+            1.0331393812138717e-06,
+            0.0033626218937050693,
+            0.003581171741355651,
+            3.424745214222599e-06,
+            8.240013339959684e-07,
+            0.014350990862255813,
+            0.0219869746055399,
+            3.279629691257516e-06,
+            -0.00021235302296211052,
+            -2.9655244901275264e-05,
+            0.006646602850260735,
+            0.011510017770525861,
+            4.763379351112994e-06,
+            -0.00023400012700680546,
+            28.712613208945204,
+            1.0875005580609927,
+            13.103109498745736,
+            -1.1534375687452438,
+            -0.6323638714952232,
+            1.4428875190427901,
+            -0.9724071806431881,
+            0.13982146876454277,
+            0.7786014189401855,
+            0.229871724330408,
+            0.09211578778070754,
+            0.08218740169989898,
+            0.5589582136756193,
+            -0.020609084378409238,
+            0.20853433693042087,
+            0.05504129423559555,
+            -0.012491282825571133,
+            -0.020659043815896942,
+            -0.0010520135081084053,
+            -0.004638026225418273,
+            -0.0010575823859957077,
+            0.005698414230107111,
+            -0.0018839048307629316,
+            -0.005512977743247033,
+            0.016997471400967,
+            0.0014412977845885185,
+            -0.022819061995181723,
+            -0.02170503607311354,
+            0.002840775697531376,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -26.995245868873763,
+            2.4781802596360643,
+            -12.710866054714351,
+            -1.7738194916071657,
+            0.4124967743357909,
+            0.2818525600942071,
+            1.9976824743921775,
+            0.02252349416590618,
+            0.013793623295095054,
+            0.10578780154282517,
+            0.06595831751959337,
+            0.01445989665713384,
+            0.11257025084556728,
+            0.10111273734256505,
+            0.0045228208795622905,
+            0.003888272129450538,
+            0.052050946925559144,
+            0.053203275419300505,
+            0.006025080384105943,
+            0.002104118130564597,
+            0.08868935931321377,
+            0.1201979007342623,
+            0.00033502888639938154,
+            0.0010937011835102082,
+            0.0009952658074788125,
+            0.058406015534638825,
+            0.11304533424694084,
+            0.0047490437799717865,
+            0.0026684529791779444,
+            31.981553481749163,
+            4.03041434817425,
+            14.621731317878474,
+            0.4044888675560542,
+            -0.2616103937511677,
+            2.2689086889751393,
+            -0.4610710371134662,
+            1.5156332545824986,
+            3.7127814214144244,
+            1.419357985614337,
+            0.9436023630091885,
+            0.4556283550950322,
+            2.128889910380204,
+            0.0892190243250163,
+            1.033109042917278,
+            0.21331292263567495,
+            0.09788727421377351,
+            0.06075715196760909,
+            0.043261211202533616,
+            0.014098549227739272,
+            0.07174479059440338,
+            0.07584870182496181,
+            0.030550664490755393,
+            0.013818621739650783,
+            0.18861029895055545,
+            0.1356968748091803,
+            0.07391900275687635,
+            0.040153978079016155,
+            0.01147025531374041,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14
+        ],
+        "q99": [
+            -24.93016374326178,
+            4.075134871836679,
+            -11.715114113416774,
+            -1.104883229767193,
+            1.065704235244097,
+            0.8475442809331938,
+            2.1781278107032995,
+            0.0868108954698803,
+            0.07528991723883494,
+            0.2416163297860941,
+            0.20399498951040743,
+            0.0499260279684238,
+            0.23969788322834543,
+            0.2311248394810045,
+            0.028651043548562603,
+            0.012594244765621381,
+            0.16544098152976774,
+            0.13817531056646346,
+            0.050719428508894326,
+            0.009238591096428005,
+            0.1861359338893663,
+            0.23667935992751465,
+            0.00918000142456242,
+            0.0051759530592749275,
+            0.0125802387692732,
+            0.13869567325648058,
+            0.3252094050348154,
+            0.02239118524336732,
+            0.009087333327387532,
+            34.10294739305813,
+            6.86940954528719,
+            17.135993375388583,
+            1.2413234982956738,
+            0.018399239274616865,
+            2.593442670762003,
+            0.24745223253889415,
+            2.3130144240095354,
+            4.6960765194720775,
+            2.1924106242673833,
+            1.3159865057381908,
+            0.7831153126285446,
+            2.1404254036341634,
+            0.3216148973684695,
+            1.0555313709570617,
+            0.2133607957241018,
+            0.4051464268876572,
+            0.15964333131675096,
+            0.16164532264127016,
+            0.03229763126139726,
+            0.19224138730896578,
+            0.18187932736367657,
+            0.07537842079725633,
+            0.018630630006471072,
+            0.3568678298245942,
+            0.3329233112012609,
+            0.19393368428071375,
+            0.0908524830056262,
+            0.016191057918035125,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.35159656405448914,
+            0.14404138922691345,
+            0.928560197353363,
+            -1.4907735586166382,
+            1.1291160583496094,
+            -1.7961584329605103,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2394179254770279,
+            -0.3637067675590515,
+            0.9379682540893555,
+            -0.7056066989898682,
+            1.0297925472259521,
+            0.24525831639766693,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.4523690342903137,
+            0.23729994893074036,
+            1.093589186668396,
+            -0.6987577676773071,
+            2.1726298332214355,
+            -1.1024792194366455,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.5091120004653931,
+            -0.03702371194958687,
+            1.1836131811141968,
+            1.279338002204895,
+            2.0450847148895264,
+            1.5543174743652344,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.4020723380338383,
+            0.19277802946276448,
+            0.9973877444792238,
+            -1.2000765148148858,
+            1.6970007689344386,
+            -1.5437933168450888,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.4198505929132337,
+            -0.16174387514041264,
+            1.0700296524176525,
+            -0.07968683514381042,
+            1.6765348459886371,
+            0.6654187487049686,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.018769997966146174,
+            0.019328134830468607,
+            0.024505599632039715,
+            0.11765239448716894,
+            0.1676412122109438,
+            0.09668992818688409,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.056855045390903566,
+            0.05784768101678047,
+            0.04750344333891654,
+            0.29092247299004437,
+            0.1458744056282483,
+            0.19528326957643471,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            0.3725702764465425,
+            0.17665600452217198,
+            0.971692588314306,
+            -1.2841393078908785,
+            1.2760730735808548,
+            -1.6437257913967456,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            0.2805289902199647,
+            -0.2752367221251424,
+            0.9766120969614159,
+            -0.4996330877187268,
+            1.23427091229721,
+            0.3785828860987815,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16,
+            3.9995784462121255e-16
+        ],
+        "q10": [
+            0.39208800183124654,
+            0.1826874781656815,
+            0.9764905601459819,
+            -1.2661642756982254,
+            1.5289089634270383,
+            -1.6171051762791786,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            0.3332454271711241,
+            -0.2430296095630006,
+            1.0050701682390568,
+            -0.3617017831733944,
+            1.5074625541564601,
+            0.47634669965560367,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15,
+            3.999578446212128e-15
+        ],
+        "q50": [
+            0.40344420294056044,
+            0.19224846207871946,
+            0.9942068572903145,
+            -1.2115306418636738,
+            1.7251828695628506,
+            -1.559074482547823,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.4374242109654332,
+            -0.15859614083528595,
+            1.0824425355330953,
+            -0.12412094208134025,
+            1.690895865773881,
+            0.6332437965150637,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.4107896643914688,
+            0.20381679977297454,
+            1.0241151863164624,
+            -1.1167289513624594,
+            1.8301408989320884,
+            -1.468629388495309,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            0.4761994484895458,
+            -0.08826351175375566,
+            1.1227999645318965,
+            0.17567892322350692,
+            1.8446506321469411,
+            0.8559579449423025,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14,
+            3.599620601590912e-14
+        ],
+        "q99": [
+            0.4133273940381227,
+            0.210780775156108,
+            1.0521389162325983,
+            -0.9298951218737762,
+            1.8664067944835896,
+            -1.2560633527560787,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            0.4863103429750874,
+            -0.06485105152351214,
+            1.146453144171155,
+            1.1546525313959781,
+            1.932226100591111,
+            1.351165815478697,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14,
+            3.959582661750005e-14
+        ]
+    },
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            1840
+        ],
+        "mean": [
+            862.5015748134402
+        ],
+        "std": [
+            544.3870848308347
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            99.99493839578925
+        ],
+        "q10": [
+            845.6048143970368
+        ],
+        "q50": [
+            891.1324789157862
+        ],
+        "q90": [
+            913.2123794935255
+        ],
+        "q99": [
+            917.4024252095815
+        ]
+    },
+    "observation.state": {
+        "min": [
+            1.0440634489059448,
+            -0.8330886960029602,
+            -0.22482825815677643,
+            0.9262023568153381,
+            -0.2580775320529938,
+            -0.8597596883773804,
+            0.0036035366356372833,
+            0.006279248744249344,
+            -0.14358222484588623,
+            -0.3394041061401367,
+            -1.96979999600444e-05,
+            0.00344457826577127,
+            -0.0030769759323447943,
+            -0.28666362166404724,
+            0.003458051709458232,
+            0.0005276732263155282,
+            -0.003409622237086296,
+            -0.2277011126279831,
+            0.0033672836143523455,
+            0.0008030388853512704,
+            -0.003868114436045289,
+            -0.026907285675406456,
+            0.0025663261767476797,
+            0.000828313990496099,
+            0.0053196316584944725,
+            -0.005658910144120455,
+            -0.025897571817040443,
+            -0.0011927494779229164,
+            -0.0006079328013584018,
+            0.9255586862564087,
+            -1.2067867517471313,
+            -0.24362275004386902,
+            0.9061024188995361,
+            -1.7609723806381226,
+            -0.9348974823951721,
+            -0.5169020295143127,
+            0.005260411184281111,
+            -0.29592999815940857,
+            -0.330832839012146,
+            -0.32236573100090027,
+            0.0028382758609950542,
+            0.0001763807813404128,
+            -0.3439633846282959,
+            0.0034701067488640547,
+            -0.0038209750782698393,
+            -0.0034616284538060427,
+            -0.25901058316230774,
+            0.002871959237381816,
+            0.0008544759475626051,
+            -0.002691588830202818,
+            -0.18577226996421814,
+            0.003495635464787483,
+            0.0008287574164569378,
+            0.0061288150027394295,
+            -0.0034716876689344645,
+            -0.19675502181053162,
+            0.003020875621587038,
+            0.000742289877962321,
+            0.5620121955871582,
+            -1.1073423624038696,
+            0.4640291929244995,
+            -0.06222209706902504,
+            -0.0836019515991211,
+            -0.0764114186167717,
+            -0.7492537498474121
+        ],
+        "max": [
+            1.3043544292449951,
+            -0.47653406858444214,
+            -5.992112619424006e-07,
+            1.642174482345581,
+            0.3536117970943451,
+            0.368726909160614,
+            0.6981677412986755,
+            1.454479455947876,
+            0.299090713262558,
+            0.0020474556367844343,
+            0.29918384552001953,
+            0.5033559203147888,
+            0.5490332841873169,
+            0.13026942312717438,
+            0.049311183393001556,
+            0.040979813784360886,
+            0.5204818844795227,
+            0.2018420547246933,
+            0.2592599093914032,
+            0.055077556520700455,
+            0.27369460463523865,
+            0.2381434142589569,
+            0.04481249302625656,
+            0.031651969999074936,
+            0.26469290256500244,
+            0.378603458404541,
+            0.2945570945739746,
+            0.11591936647891998,
+            0.04547080025076866,
+            1.5845922231674194,
+            -0.24785827100276947,
+            4.6259108785307035e-05,
+            1.8845183849334717,
+            0.28929176926612854,
+            0.029844913631677628,
+            0.698197066783905,
+            1.535913348197937,
+            0.27523231506347656,
+            0.2492145448923111,
+            0.30501824617385864,
+            1.2577990293502808,
+            1.2240650653839111,
+            0.14306648075580597,
+            1.0611190795898438,
+            0.8643133044242859,
+            1.4670137166976929,
+            0.26164230704307556,
+            1.501533031463623,
+            1.5065926313400269,
+            1.4689308404922485,
+            0.272976815700531,
+            1.5414841175079346,
+            1.3081812858581543,
+            0.27249038219451904,
+            1.4759846925735474,
+            0.2995975613594055,
+            1.516239881515503,
+            1.3126550912857056,
+            0.5634503364562988,
+            -1.1060960292816162,
+            0.6467646360397339,
+            0.05167597904801369,
+            0.06624879688024521,
+            0.10383132100105286,
+            -0.4917367100715637
+        ],
+        "mean": [
+            1.1803699218717545,
+            -0.6519012643305462,
+            -0.2213091689642984,
+            1.2397153980348679,
+            0.06254098129515188,
+            -0.0740927109785922,
+            0.37226450478418965,
+            1.2836069126632803,
+            0.2700708305310151,
+            -0.18572674685717952,
+            0.2224317002944475,
+            0.3251071155989667,
+            0.27186310301689565,
+            0.051966692048520315,
+            0.025668785355718173,
+            0.024830275410888877,
+            0.12108085930025216,
+            0.09293637313139065,
+            0.041759196620947354,
+            0.017093442012345514,
+            0.03282673150655011,
+            0.11421734971051536,
+            0.00830431829054758,
+            0.005014299505093255,
+            0.22419387278486466,
+            0.06424709156126819,
+            0.23891239205239553,
+            0.019210711192591705,
+            0.011527888185321158,
+            1.3093951535003376,
+            -0.6484446250985897,
+            -0.22548080318183666,
+            1.3166346601914105,
+            -1.2396836060311194,
+            -0.386309784609595,
+            -0.052367269650640313,
+            1.2400178600283336,
+            0.03054224060504658,
+            -0.05562250788996203,
+            -0.03947019025078918,
+            0.38047751260660323,
+            0.8705977478378754,
+            0.04711070464053743,
+            0.21539057316342167,
+            0.30790915321265866,
+            1.3177219130262308,
+            -0.06574985616578333,
+            1.2074752129138304,
+            1.0207851723514008,
+            1.3685335452500804,
+            -0.11115135947319278,
+            1.3445694744396097,
+            0.9622774691603662,
+            0.1333032314992869,
+            1.386937368763162,
+            -0.09368550715175919,
+            0.8214343731415534,
+            1.2423433631883287,
+            0.5626899476546257,
+            -1.1068541415242446,
+            0.567840409300369,
+            -0.003892008936394732,
+            0.010699581051077416,
+            0.02852744112841381,
+            -0.6506459884613208
+        ],
+        "std": [
+            0.04616152073032256,
+            0.0714647981747606,
+            0.019454354670416858,
+            0.1325223779466195,
+            0.08474829055227098,
+            0.2125348970570976,
+            0.12337544561604556,
+            0.14501790724815333,
+            0.03998310846527701,
+            0.07497483191673569,
+            0.06505810617348727,
+            0.08884730009536625,
+            0.10614134360568554,
+            0.04020173606033042,
+            0.008933996791491199,
+            0.007576020655505938,
+            0.10861254237237025,
+            0.04845687075704483,
+            0.044405474007657396,
+            0.012837376066461898,
+            0.06364691406595854,
+            0.05280069122076954,
+            0.007431533954343575,
+            0.007128548329000767,
+            0.04599316476382484,
+            0.0845910302172634,
+            0.05578283475729134,
+            0.020748893735964363,
+            0.011874082889457448,
+            0.11587538482633417,
+            0.16271254907130234,
+            0.023499726142531152,
+            0.19445779465813748,
+            0.3187933001524593,
+            0.1422828242882691,
+            0.22966411357240515,
+            0.1471489739699741,
+            0.0881313210498347,
+            0.08392154301720064,
+            0.14524543561042666,
+            0.26392517365166934,
+            0.2030766111880853,
+            0.03139956425870241,
+            0.18136484781144674,
+            0.16148644691975433,
+            0.24880627285111007,
+            0.03370025231896894,
+            0.27704527987312755,
+            0.263094383679528,
+            0.26280824626043586,
+            0.042236627214855216,
+            0.29421935515959236,
+            0.2522760952819858,
+            0.037235656861377635,
+            0.2676809470386212,
+            0.07399608249512123,
+            0.28707106187000636,
+            0.2710974716086949,
+            0.0004667606720213313,
+            0.002221770622951674,
+            0.027585466574405793,
+            0.015270563189303766,
+            0.02088258384115608,
+            0.026322058302528085,
+            0.037114949437967636
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            1.0973920706436007,
+            -0.7597358976621632,
+            -0.223812572176932,
+            1.1686948486879005,
+            -0.10354414322443208,
+            -0.6714717806766844,
+            0.26076993480202837,
+            0.48142553971448465,
+            0.04057321468822397,
+            -0.27813560323865644,
+            0.05111065296504217,
+            0.04777762042097776,
+            0.026933169914845213,
+            -0.04825933181266091,
+            0.004481803897020023,
+            0.002768222995542171,
+            0.0029414642219884983,
+            -0.0400197744236331,
+            0.005207176370256044,
+            0.0014216639462465007,
+            -0.001991048563024711,
+            -0.019470450068205497,
+            0.004844852205469181,
+            0.0010114972769236063,
+            0.04153225741248206,
+            -0.0011262628066882432,
+            -0.003116315946074175,
+            0.0029437752987834702,
+            0.0008946292041460344,
+            1.0347556142406509,
+            -1.0474086413731742,
+            -0.24281664939517925,
+            1.0611920094011609,
+            -1.621358966830178,
+            -0.729879634962594,
+            -0.3789356653416246,
+            0.36997214214899743,
+            -0.19520674034825541,
+            -0.2574997630443773,
+            -0.24717984509937804,
+            0.021109753048496434,
+            0.04454157342011943,
+            -0.057055359326217026,
+            0.00680458342023218,
+            0.005946703808484464,
+            0.0060108404988377905,
+            -0.10770195937481372,
+            0.004640305493941503,
+            0.0019938686641715734,
+            0.00034964123391144033,
+            -0.14698694067109064,
+            0.003827321163700569,
+            0.0010792364286381162,
+            0.03465901094924056,
+            9.911679779001641e-05,
+            -0.1452473772872537,
+            0.0035787770849916825,
+            0.0011084109622748483,
+            0.5625535985231878,
+            -1.1070036745543785,
+            0.5315571723274293,
+            -0.013249196956032392,
+            -0.014776208511752846,
+            -0.010870825310680513,
+            -0.7015549730149189
+        ],
+        "q10": [
+            1.135918397400697,
+            -0.6938251124043017,
+            -0.22376283016544132,
+            1.1797667186008562,
+            0.009226330665771986,
+            -0.24831286526549398,
+            0.28880138416428597,
+            1.2499515325969481,
+            0.2566798079271607,
+            -0.23798961580636427,
+            0.16522653449613683,
+            0.2874960540215359,
+            0.2278792659604005,
+            0.024004725842452074,
+            0.022216902599059635,
+            0.021886481283183618,
+            0.08146370885526656,
+            0.06211126020551032,
+            0.0326523938005366,
+            0.013025568121855426,
+            0.014286925089240964,
+            0.07423492460809628,
+            0.0070033653308097165,
+            0.0031975182282636006,
+            0.2104223716674738,
+            0.034279753984085254,
+            0.21130217009267405,
+            0.012710723494121468,
+            0.007441317325788769,
+            1.1591550658007472,
+            -0.8679768387801722,
+            -0.2401390332214025,
+            1.1168689025538203,
+            -1.5283377937462426,
+            -0.5624170520659382,
+            -0.2666370197976618,
+            1.1557098024695145,
+            -0.09889594661830006,
+            -0.17395292867948178,
+            -0.19081463651245467,
+            0.06076489408310169,
+            0.6699863453528854,
+            0.0184365190571907,
+            0.06585087832875294,
+            0.1447648479708154,
+            1.3232114161374635,
+            -0.08876992499016644,
+            1.1761943424445973,
+            0.9891549937059634,
+            1.3959709840458991,
+            -0.13381039856382299,
+            1.3572341953293114,
+            0.9052901457805896,
+            0.10713650690595673,
+            1.4239870906580518,
+            -0.1299901614825436,
+            0.6990738441800679,
+            1.2966079622076958,
+            0.5626332998213833,
+            -1.1069531705660276,
+            0.5581116674044846,
+            -0.00820079327254836,
+            0.0004504047645974742,
+            0.004248023010365756,
+            -0.6854334093984735
+        ],
+        "q50": [
+            1.1798348076467422,
+            -0.6441418288704722,
+            -0.2236628198497964,
+            1.220498955055921,
+            0.07048015690043016,
+            -0.03083989401774258,
+            0.3540619806228874,
+            1.3054637476340614,
+            0.2777717702857539,
+            -0.18198603016285927,
+            0.22540723831248088,
+            0.3362474149936851,
+            0.27558166833288406,
+            0.05794030670141861,
+            0.026286117580463824,
+            0.025257458326080694,
+            0.11831132281615447,
+            0.09892589704966356,
+            0.04201413360858611,
+            0.01695981785484293,
+            0.030196364615480146,
+            0.12042635973951293,
+            0.008420785054474269,
+            0.00487710096825044,
+            0.23045107511773172,
+            0.06770993159304954,
+            0.2518294601178058,
+            0.02001669619330261,
+            0.012253926692106112,
+            1.3349195430085372,
+            -0.6346092233066203,
+            -0.2288806898027845,
+            1.2585704208798354,
+            -1.2985628574881583,
+            -0.37374256749131246,
+            -0.10356580984394463,
+            1.2659922296744106,
+            0.052306014702476436,
+            -0.046109944083125985,
+            -0.0708489171174519,
+            0.3648672675118277,
+            0.9024301096440763,
+            0.049639704900657555,
+            0.16321084671103067,
+            0.311522108113536,
+            1.3700843682370176,
+            -0.06968356153119165,
+            1.2631151170766315,
+            1.0684952084690085,
+            1.424529862160922,
+            -0.11796405320828807,
+            1.4095033817704472,
+            1.0084084924527106,
+            0.129316425869539,
+            1.444711028065577,
+            -0.10855662161047064,
+            0.8478686212305542,
+            1.3075987574038341,
+            0.5626833769182462,
+            -1.1068629564927486,
+            0.569235708212438,
+            -0.0040275697288355665,
+            0.011188361277341604,
+            0.030106468007238603,
+            -0.6550334462563104
+        ],
+        "q90": [
+            1.2279868984700664,
+            -0.6198103980946718,
+            -0.22344301886041962,
+            1.3286202683107282,
+            0.09954003550327395,
+            0.058420277404013767,
+            0.47924699331644427,
+            1.3395905909271746,
+            0.2865591341567571,
+            -0.1415669211363394,
+            0.276755368836163,
+            0.35741866424950747,
+            0.32611197843309897,
+            0.07346479760763447,
+            0.030342291176003077,
+            0.02855114744442949,
+            0.17397494197764285,
+            0.12325380385211816,
+            0.05283148814511221,
+            0.022483315273676016,
+            0.05818648049209069,
+            0.15410062463699586,
+            0.010108239262874531,
+            0.007547513977960114,
+            0.2388541420924724,
+            0.09257673310870887,
+            0.26786133893188785,
+            0.025154802500383232,
+            0.015269889441569234,
+            1.4354000880983355,
+            -0.44334613189985483,
+            -0.21245063393660082,
+            1.6097192070711528,
+            -0.9578890161474458,
+            -0.22809141066955013,
+            0.21886914263306848,
+            1.3317206833880408,
+            0.11325108444826669,
+            0.030067148678941034,
+            0.1858525934456854,
+            0.7298407737615732,
+            1.0658849120294134,
+            0.07703926826864337,
+            0.4617395174586935,
+            0.46632735470752246,
+            1.4014456248610172,
+            -0.04823768611512374,
+            1.34585301991868,
+            1.140409350626315,
+            1.4414810135453187,
+            -0.10018519541277383,
+            1.4538111061316623,
+            1.0986047202620803,
+            0.162977385012972,
+            1.452704631086665,
+            -0.06607210784856567,
+            0.9956906353736382,
+            1.3080488565768176,
+            0.5627273553092808,
+            -1.106775172416743,
+            0.57722003541494,
+            0.0009890312685568877,
+            0.020525896580120776,
+            0.04892571420382727,
+            -0.607897293525153
+        ],
+        "q99": [
+            1.2406728791732917,
+            -0.6081409637486586,
+            -0.10986683749105321,
+            1.4904531000781494,
+            0.11818255234290127,
+            0.07892256740884343,
+            0.6063868434889201,
+            1.3543171216375882,
+            0.2883084912724286,
+            -0.04819022111490656,
+            0.2888224583981395,
+            0.3638595742042909,
+            0.3538481706091095,
+            0.07963610683415406,
+            0.031363417336788046,
+            0.030559205765255594,
+            0.19114499698441323,
+            0.12948927005323776,
+            0.055786208460887866,
+            0.024348042274328165,
+            0.06696766284451287,
+            0.16398199547705794,
+            0.010407154225614798,
+            0.008395029432905527,
+            0.24400672264952233,
+            0.09928349383592973,
+            0.27197382824896915,
+            0.027655379442257953,
+            0.016385891568558054,
+            1.4815228849369664,
+            -0.3867562623475422,
+            -0.1074196317612707,
+            1.7352576034422038,
+            0.04549237693621314,
+            -0.13239226386861858,
+            0.6685883632802323,
+            1.3738478295274459,
+            0.17049052535765846,
+            0.07783781287215455,
+            0.29242595077957795,
+            0.9863985395023618,
+            1.1062267823504086,
+            0.09751294064872942,
+            0.7084427670606832,
+            0.5757190119642107,
+            1.4251404657342952,
+            0.10191906392437404,
+            1.4044406996911665,
+            1.1951377854697982,
+            1.452932251769147,
+            0.11110699597247155,
+            1.4888768251226423,
+            1.1534917025494102,
+            0.24604127873493548,
+            1.4575415652642676,
+            0.2504709863886207,
+            1.2453304800633496,
+            1.308184056071099,
+            0.5627995114928158,
+            -1.1067115513276051,
+            0.5810496522402157,
+            0.007284809367866561,
+            0.023035004149555824,
+            0.05833020748951818,
+            -0.5816755848448553
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9254901960784314
+                ]
+            ],
+            [
+                [
+                    0.9254901960784314
+                ]
+            ],
+            [
+                [
+                    0.9254901960784314
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.003052232737492684
+                ]
+            ],
+            [
+                [
+                    0.003052232737492684
+                ]
+            ],
+            [
+                [
+                    0.003052232737492684
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.002491324777718718
+                ]
+            ],
+            [
+                [
+                    0.002491324777718718
+                ]
+            ],
+            [
+                [
+                    0.002491324777718718
+                ]
+            ]
+        ],
+        "count": [
+            688653000
+        ],
+        "q01": [
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ],
+            [
+                [
+                    -6.805965712604684e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.02237870798973277
+                ]
+            ],
+            [
+                [
+                    0.02237870798973277
+                ]
+            ],
+            [
+                [
+                    0.02237870798973277
+                ]
+            ]
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            34
+        ],
+        "mean": [
+            16.46026373224251
+        ],
+        "std": [
+            10.222290147463621
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            16.46026373224251
+        ],
+        "q10": [
+            16.46026373224251
+        ],
+        "q50": [
+            16.46026373224252
+        ],
+        "q90": [
+            16.460263732242545
+        ],
+        "q99": [
+            16.46026373224255
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.3519998788833618,
+            0.14393571019172668,
+            0.9284296035766602,
+            -1.4911673069000244,
+            1.1273196935653687,
+            -1.7986986637115479,
+            0.23864445090293884,
+            -0.363687664270401,
+            0.9381898045539856,
+            -0.705974280834198,
+            1.017956256866455,
+            0.2457560896873474
+        ],
+        "max": [
+            0.45248711109161377,
+            0.237611785531044,
+            1.0942234992980957,
+            -0.6952225565910339,
+            2.172668695449829,
+            -1.1037020683288574,
+            0.5091270208358765,
+            -0.0369001179933548,
+            1.1842411756515503,
+            1.27922523021698,
+            2.0450711250305176,
+            1.5519415140151978
+        ],
+        "mean": [
+            0.40208792323032744,
+            0.19279560589816988,
+            0.9973957527068152,
+            -1.2000152553301129,
+            1.696811842516758,
+            -1.543774485045909,
+            0.41988228472358147,
+            -0.1619069429785424,
+            1.0704529427344132,
+            -0.08071311826178557,
+            1.6745654255335196,
+            0.6656933032284015
+        ],
+        "std": [
+            0.018768260988688296,
+            0.019354938236425416,
+            0.024520415148101216,
+            0.11778228372693762,
+            0.1677101018592591,
+            0.09676389580893896,
+            0.0568557407641272,
+            0.0579724735391951,
+            0.04759541210776539,
+            0.2884564685636546,
+            0.1486936966426222,
+            0.19637872747921975
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            0.372649558728766,
+            0.17671881608930626,
+            0.9716588509800415,
+            -1.2842035887402394,
+            1.2740761422504763,
+            -1.6447231455828406,
+            0.2806979563936744,
+            -0.2765362891517493,
+            0.9765388435351274,
+            -0.4992066129609025,
+            1.2171716932160443,
+            0.37891138689656034
+        ],
+        "q10": [
+            0.3921121600110478,
+            0.18266362223471647,
+            0.9764800722092184,
+            -1.2664404319713713,
+            1.5285753473927648,
+            -1.6170740211580363,
+            0.3332560364865583,
+            -0.24326976723535204,
+            1.0051177245216805,
+            -0.3619106274607317,
+            1.5048924280696583,
+            0.4761595423138225
+        ],
+        "q50": [
+            0.4034855647890349,
+            0.19225374403684614,
+            0.9942278544691326,
+            -1.2115782828639199,
+            1.7249193389717772,
+            -1.559155410851232,
+            0.43749942220408783,
+            -0.1587104133601721,
+            1.082943263247407,
+            -0.12381630117860279,
+            1.6897594247195362,
+            0.6330214333095953
+        ],
+        "q90": [
+            0.41079446582477513,
+            0.20393332749620172,
+            1.024162827083909,
+            -1.1164979688368657,
+            1.8302011807214738,
+            -1.4682726453811648,
+            0.4762016406262692,
+            -0.08832587765273348,
+            1.1231675514280304,
+            0.17443923161981523,
+            1.8445908337743864,
+            0.8560971609066874
+        ],
+        "q99": [
+            0.41336858419810635,
+            0.21087845446923084,
+            1.0522692107208047,
+            -0.9277108183605349,
+            1.8664222308619827,
+            -1.2586806364911067,
+            0.4862547153173794,
+            -0.0647858526689804,
+            1.1465631555517655,
+            1.1504607814115966,
+            1.9326476755959916,
+            1.3602030463945127
+        ]
+    },
+    "observation.tactile": {
+        "min": [
+            -0.04411891847848892,
+            -4.670055932365358e-05,
+            -0.00010398639278719202,
+            -0.002146798186004162,
+            -0.00024553717230446637,
+            -0.0008415179327130318,
+            -0.01040568482130766,
+            -5.243360283202492e-05,
+            -0.00012030031211907044,
+            -0.001536784926429391,
+            -6.764678983017802e-05,
+            -0.00020065813441760838,
+            -0.0223026592284441,
+            -5.234542186371982e-05,
+            -0.00011654656555037946,
+            -0.002117943949997425,
+            -9.335251525044441e-05,
+            -0.00048254203284159303,
+            -0.03189396858215332,
+            -4.0869541408028454e-05,
+            -9.081056487048045e-05,
+            -0.0021676672622561455,
+            -6.317331281024963e-05,
+            -0.0006693627801723778,
+            -3.041630744934082,
+            -0.1088329404592514,
+            -0.1318102777004242,
+            -0.056069545447826385,
+            -0.00996767170727253,
+            -0.04406903311610222,
+            -8.912201881408691,
+            -0.3630322217941284,
+            -0.709625244140625,
+            -0.5103687047958374,
+            -0.03131643682718277,
+            -0.16472546756267548,
+            -16.443483352661133,
+            -0.5848276615142822,
+            -0.886896014213562,
+            -0.3645111918449402,
+            -0.07017840445041656,
+            -0.3094642460346222,
+            -10.716617584228516,
+            -2.209040641784668,
+            -3.5805370807647705,
+            -0.085727758705616,
+            -0.021027302369475365,
+            -0.19112111628055573,
+            -0.023989621549844742,
+            -0.3763507306575775,
+            -0.00013629102613776922,
+            -0.05944541096687317,
+            -0.00016784705803729594,
+            -0.00047413038555532694,
+            -1.0366517305374146,
+            -4.676633034250699e-05,
+            -0.04681757092475891,
+            -0.0022276737727224827,
+            -0.00020806578686460853,
+            -0.012838643975555897
+        ],
+        "max": [
+            0.03860712796449661,
+            0.04480681195855141,
+            0.12423256784677505,
+            1.9579363197408384e-06,
+            0.00048442010302096605,
+            0.0006230227882042527,
+            0.020511170849204063,
+            0.029111923649907112,
+            0.08290302753448486,
+            2.070485606964212e-06,
+            0.00045757440966553986,
+            0.00023643701570108533,
+            0.038765691220760345,
+            0.03667181730270386,
+            0.1049310639500618,
+            2.1662815470335772e-06,
+            0.00041249138303101063,
+            0.0005555363604798913,
+            0.020306959748268127,
+            0.03830163553357124,
+            0.10652941465377808,
+            1.6901194612728432e-06,
+            0.0003457193961367011,
+            0.0003019946161657572,
+            0.023714598268270493,
+            3.3338825702667236,
+            2.520310163497925,
+            0.0028833779506385326,
+            0.0007226868183352053,
+            0.0003533716080710292,
+            10.821511268615723,
+            16.178640365600586,
+            22.3043270111084,
+            0.011363363824784756,
+            0.07361382246017456,
+            0.21562176942825317,
+            9.549592018127441,
+            25.293214797973633,
+            26.014612197875977,
+            0.0227330531924963,
+            0.05921714007854462,
+            0.21452820301055908,
+            0.10859747231006622,
+            5.292084217071533,
+            4.479874134063721,
+            0.0699986070394516,
+            0.012087634764611721,
+            0.0009141760529018939,
+            3.536262035369873,
+            0.34311991930007935,
+            3.212296485900879,
+            2.482154059180175e-06,
+            0.020392868667840958,
+            0.07062721252441406,
+            0.023776354268193245,
+            0.26910942792892456,
+            0.1675741970539093,
+            0.0007284034509211779,
+            0.001583120203576982,
+            0.000334198004566133
+        ],
+        "mean": [
+            -0.0007758654944348836,
+            0.002588140532936025,
+            0.007641437472450966,
+            -0.00012809130532527826,
+            1.054050970012563e-05,
+            -1.566430443461961e-05,
+            8.027050167065475e-05,
+            0.0004794161570335378,
+            0.0014301787579878592,
+            -2.540689472927804e-05,
+            1.3869830324828406e-06,
+            8.754297019111278e-07,
+            -0.00019448405153075802,
+            0.0016361129569636506,
+            0.004833769522171369,
+            -8.927281834803691e-05,
+            5.979930186291854e-06,
+            -5.818196929929339e-06,
+            -0.0009772257475819074,
+            0.002308266189994869,
+            0.006697827716051645,
+            -0.00012422831888715398,
+            1.233984864853662e-05,
+            -2.235995889347634e-05,
+            -0.007909790199309617,
+            0.004336121875975265,
+            0.0075612100640043015,
+            -0.00014349638189108005,
+            -9.206867756352227e-06,
+            -0.0001494628381000602,
+            1.4149197603623707,
+            2.291794050334505,
+            3.974528220543114,
+            -0.08428995342487286,
+            0.007991539652554613,
+            0.026564776299228165,
+            -2.1505651528807532,
+            1.9331683289704522,
+            4.6974212476618495,
+            -0.08022266886841595,
+            -0.0027283832869240115,
+            -0.03535230674480745,
+            -0.06492152482069745,
+            0.017846731048856087,
+            0.010116046034924487,
+            -0.00020982365333549333,
+            -7.478413133807702e-05,
+            -0.0011768571140236114,
+            0.00016945773215380986,
+            0.00238551465879346,
+            0.007433889755764573,
+            -0.00012037601858541831,
+            1.8137926357529103e-05,
+            -2.607884902708259e-06,
+            -0.000783598572960424,
+            0.0025582456726762326,
+            0.007389229637851194,
+            -0.00015091297979527276,
+            4.848215061725505e-06,
+            -1.640875347486207e-05
+        ],
+        "std": [
+            0.00212345500803698,
+            0.004044884982154008,
+            0.011776952757565783,
+            0.00022518945713034545,
+            3.6915192439801787e-05,
+            3.9141213025682025e-05,
+            0.0006778907814638377,
+            0.0014091393941307868,
+            0.004119128989978802,
+            7.325971319012928e-05,
+            1.3921504593681577e-05,
+            1.2902048681014616e-05,
+            0.00202845221145171,
+            0.003479808402035257,
+            0.010211629184001812,
+            0.0002002676947914685,
+            2.770256561893859e-05,
+            3.759789230238323e-05,
+            0.002854070824324593,
+            0.004663841388092749,
+            0.01342536055780697,
+            0.00026493753068342155,
+            2.8929851070029352e-05,
+            6.240457210723579e-05,
+            0.09735099509826639,
+            0.05690808361957439,
+            0.0529404923094017,
+            0.0011318749788604909,
+            0.00024000549451510988,
+            0.001768737530141773,
+            1.911485720012041,
+            2.6830399710507624,
+            4.339985444053117,
+            0.09375091747345576,
+            0.012037883307887926,
+            0.03795340240177797,
+            2.5542925561683902,
+            2.596272076154579,
+            5.007621176089447,
+            0.08556697177494772,
+            0.009157746183211956,
+            0.043407513117773175,
+            0.48231388055715,
+            0.1562391835224323,
+            0.10323730071475141,
+            0.001942285525608545,
+            0.0006109878627495799,
+            0.008234768802069338,
+            0.025290468550310505,
+            0.00504737090733224,
+            0.02802630648010102,
+            0.0005102220346257122,
+            0.00015265525233629004,
+            0.00047261942153825284,
+            0.009541570920790244,
+            0.0038888249930924294,
+            0.010187124015668604,
+            0.00021434620725881015,
+            2.647125996234242e-05,
+            0.00012459389129411676
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            -0.0073378018150597355,
+            -4.1704740836888945e-05,
+            -9.200103771746616e-05,
+            -0.0008658355075732717,
+            -4.1000060506626945e-05,
+            -0.0001389714926325258,
+            -0.0020557193434767402,
+            -4.848149523652624e-05,
+            -0.00010989303599593381,
+            -0.00027560776395408086,
+            -4.2856901926249616e-06,
+            -4.430388801081752e-05,
+            -0.00462472721696023,
+            -4.768139782342399e-05,
+            -0.00010580079586283371,
+            -0.0006548606459880045,
+            -1.6285046864537378e-05,
+            -9.424041970960255e-05,
+            -0.008158042827331763,
+            -3.568241034569358e-05,
+            -7.817431061828066e-05,
+            -0.0007875044284308125,
+            -5.539746417345187e-06,
+            -0.00017643137830236725,
+            -0.1364044184981936,
+            -5.04269542354774e-05,
+            -0.00010940043417337679,
+            -0.0017500318587272523,
+            -0.0002964723161895937,
+            -0.00243620539788635,
+            -1.0440865214576431,
+            -0.006363509231482909,
+            -9.09216290084251e-05,
+            -0.26612957492816214,
+            -0.007177070096324827,
+            -0.028774057575637026,
+            -7.765751098449434,
+            -0.037620177199154184,
+            -0.00012294637172989152,
+            -0.23992060567555765,
+            -0.026756124618334418,
+            -0.1363333664798032,
+            -1.2215692083765624,
+            -0.038474524684702756,
+            -0.08930207513806025,
+            -0.004126659935535156,
+            -0.0016343430374085972,
+            -0.022477574768286993,
+            -0.003948973572356158,
+            -5.718001184724318e-05,
+            -0.00012381074672092887,
+            -0.0007076209337535756,
+            -1.1680227715074261e-05,
+            -9.176494880334322e-05,
+            -0.004570462689225271,
+            -4.237077163691811e-05,
+            -9.461507211655543e-05,
+            -0.0007841897826847898,
+            -3.5337918397788324e-05,
+            -9.431706861690544e-05
+        ],
+        "q10": [
+            -0.0029826815500902186,
+            -3.8243162991249633e-05,
+            -8.528758202475506e-05,
+            -0.00038825705524614553,
+            -1.117306180615725e-05,
+            -5.7926002251019115e-05,
+            -0.00039720364293690483,
+            -4.676150813946106e-05,
+            -0.00010688109127977003,
+            -7.278586069020533e-05,
+            -1.9040074620375192e-06,
+            -9.36730733305705e-06,
+            -0.0015211074342375635,
+            -4.5075144747666196e-05,
+            -9.847534411022616e-05,
+            -0.0002592060917426533,
+            -3.6010997873642893e-06,
+            -3.176123468259666e-05,
+            -0.003190082254145094,
+            -1.5873668783992987e-05,
+            -2.026467260674999e-05,
+            -0.00033928574893130926,
+            -1.5762895008701992e-06,
+            -6.962122430398363e-05,
+            -0.021700806892646873,
+            -4.583270959858944e-05,
+            -9.802853753673206e-05,
+            -0.00031034447548710785,
+            -4.469837714453665e-05,
+            -0.0004274761710534731,
+            -0.014248288331952803,
+            0.015471231039561993,
+            0.04566583191053018,
+            -0.2071308761846344,
+            -6.446728829825039e-05,
+            -0.0010666860080625015,
+            -5.583857083583444,
+            0.013209698523625971,
+            0.040693540001519285,
+            -0.19123266092580676,
+            -0.014036228337813062,
+            -0.0938363878104387,
+            -0.15092652384768335,
+            -9.460659119581863e-05,
+            -0.00017759490367998807,
+            -0.0007089711163138882,
+            -0.00022190986611360613,
+            -0.002750058080792813,
+            -0.0012458100586686229,
+            -2.2400237585029398e-05,
+            -3.037546190306274e-05,
+            -0.00030919273542793775,
+            -3.144467401418518e-06,
+            -3.515840618677549e-05,
+            -0.002198389401439436,
+            -2.5402760064936155e-05,
+            -3.974914234770157e-05,
+            -0.0004246880440180405,
+            -1.2594224268095904e-05,
+            -4.6171981043101386e-05
+        ],
+        "q50": [
+            -0.00010008264623915936,
+            0.0009356027867440819,
+            0.0028025138247882077,
+            -3.949229574026152e-05,
+            2.5196025178136604e-06,
+            -2.234988503450445e-06,
+            0.00023493731272580633,
+            0.00010862253816225844,
+            0.0003480897887103453,
+            -6.109294962758125e-06,
+            -1.0919524427292835e-06,
+            4.485455705747076e-06,
+            5.908352811034807e-05,
+            0.0006006592946724123,
+            0.001780980674484172,
+            -3.244271797796378e-05,
+            -1.3745832860984668e-06,
+            1.407045644963762e-06,
+            -0.0003150411310698136,
+            0.001043875380006957,
+            0.0030254672942213465,
+            -5.7349676306568984e-05,
+            4.414167211135366e-06,
+            -8.141137360738574e-06,
+            6.76308856800763e-05,
+            0.0006154741242969945,
+            0.0018363938979835816,
+            -3.085748163537178e-05,
+            1.6039661858572169e-06,
+            4.386988090727446e-07,
+            0.33452698510091117,
+            1.2342706564942196,
+            2.3018071792495105,
+            -0.04518906915779232,
+            0.001569012306961712,
+            0.005254550416684393,
+            -1.1162389521352816,
+            0.8938864063269915,
+            3.028562299098179,
+            -0.051823503007917805,
+            -0.0003649971908741565,
+            -0.017603361628710987,
+            -7.997103644753768e-05,
+            0.0002161852534877169,
+            0.00036285288577245277,
+            -7.507973370507063e-06,
+            -1.36324461854166e-06,
+            -1.2334104962004642e-06,
+            7.050611249001461e-05,
+            0.0012505245437741377,
+            0.00381766998530534,
+            -5.401602424871484e-05,
+            7.949830033174359e-06,
+            -2.271889951115128e-06,
+            -0.00020476869174675808,
+            0.001284554998342438,
+            0.003739656527190372,
+            -7.368386590162565e-05,
+            -2.784760717142729e-07,
+            -6.376325316698411e-06
+        ],
+        "q90": [
+            0.000302652829179027,
+            0.0077871770267074,
+            0.022919612329713557,
+            1.5059573496437152e-06,
+            4.3519714136953126e-05,
+            6.338065281414707e-06,
+            0.00034210714321000323,
+            0.001413435056190497,
+            0.004150692239536702,
+            1.7953404258091485e-06,
+            7.888409838901697e-06,
+            6.61286093215525e-06,
+            0.0005840300451897281,
+            0.004828544654839844,
+            0.014193185460361328,
+            1.7680534951774992e-06,
+            2.5359040728935275e-05,
+            7.883131105790826e-06,
+            0.0002678509079519347,
+            0.006450557401763245,
+            0.018708435737557507,
+            1.9310630989686677e-07,
+            3.677857614692779e-05,
+            5.2066267986932205e-06,
+            0.00039591380264511743,
+            0.00749406858173238,
+            0.01716056740571078,
+            1.7640308796378565e-06,
+            2.9497670250120676e-05,
+            7.383901232306189e-06,
+            4.168814380730679,
+            5.870376453223818,
+            9.606096293785914,
+            -0.0009734021423345747,
+            0.02541563330732984,
+            0.08169663542568668,
+            -0.010130831116937893,
+            5.113907214891689,
+            11.302178831682845,
+            -0.0006650007857823399,
+            0.0043722878865338705,
+            -0.00012834190498574568,
+            0.0005282661107062891,
+            0.034760244799170274,
+            0.03420740152514584,
+            3.111279412240677e-06,
+            1.5596897070087743e-05,
+            8.839190632234593e-06,
+            0.00045249509355756775,
+            0.006235021661491797,
+            0.01871820370340961,
+            5.065898292416763e-07,
+            4.6861722269510284e-05,
+            8.560824690184524e-06,
+            0.0003261174296897216,
+            0.007101934502373902,
+            0.02060144952984995,
+            6.594786130087076e-07,
+            2.9418598956937526e-05,
+            6.509844791445239e-06
+        ],
+        "q99": [
+            0.0015213149139397901,
+            0.015303664393044267,
+            0.04464584759009804,
+            1.7162071913587387e-06,
+            0.00013401124702526682,
+            1.8409525350393802e-05,
+            0.0006370123560200688,
+            0.0051947915082666595,
+            0.015180609629896542,
+            1.8744163941846995e-06,
+            3.2813464991710594e-05,
+            8.791172631784743e-06,
+            0.003296172075904743,
+            0.011482993425690518,
+            0.034136430181976034,
+            1.9683555867814545e-06,
+            0.00010204097719071802,
+            3.700068935414321e-05,
+            0.001135051903178202,
+            0.013956519335616781,
+            0.04032209095858856,
+            1.436745308848722e-06,
+            9.96428549321025e-05,
+            1.0238357954150927e-05,
+            0.0012882658577538296,
+            0.07816277128093803,
+            0.08674693835050544,
+            2.03112814245008e-06,
+            8.332683070611674e-05,
+            1.2466659616234413e-05,
+            5.525201648318147,
+            7.899980218363942,
+            11.712710666306451,
+            -9.90015525043971e-06,
+            0.037576971383978364,
+            0.11158696091603504,
+            0.4734947833180409,
+            9.112881723370315,
+            13.603142935656413,
+            -4.966471363939256e-06,
+            0.01582771274963822,
+            0.010803909140770509,
+            0.0014025704209462055,
+            0.40196342725715595,
+            0.20117205898961668,
+            0.001639909647424076,
+            0.0003064672418577817,
+            1.3558311006508419e-05,
+            0.0011098746621642183,
+            0.013168613125520288,
+            0.03895018960108889,
+            2.198135982326182e-06,
+            0.00010618795912262336,
+            9.904378117221519e-06,
+            0.0009686940445866464,
+            0.012983373186660405,
+            0.03752179079037475,
+            1.7203765594451555e-06,
+            7.794637843774597e-05,
+            1.0107581361995374e-05
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            3.999999999999418e-16
+        ],
+        "q10": [
+            3.999999999999418e-15
+        ],
+        "q50": [
+            1.9999999999997094e-14
+        ],
+        "q90": [
+            3.5999999999994766e-14
+        ],
+        "q99": [
+            3.959999999999425e-14
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5654582112559827
+                ]
+            ],
+            [
+                [
+                    0.5659585460868204
+                ]
+            ],
+            [
+                [
+                    0.5660811836664617
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.00729607619770462
+                ]
+            ],
+            [
+                [
+                    0.007371466098258254
+                ]
+            ],
+            [
+                [
+                    0.00724670962309608
+                ]
+            ]
+        ],
+        "count": [
+            1958835200
+        ],
+        "q01": [
+            [
+                [
+                    0.15509567153272213
+                ]
+            ],
+            [
+                [
+                    0.16144009005337867
+                ]
+            ],
+            [
+                [
+                    0.1573037242476566
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.21539058692919175
+                ]
+            ],
+            [
+                [
+                    0.2159290058461324
+                ]
+            ],
+            [
+                [
+                    0.21570567363671617
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.6766608946210743
+                ]
+            ],
+            [
+                [
+                    0.6763056089057322
+                ]
+            ],
+            [
+                [
+                    0.6772215603836909
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8993251081186674
+                ]
+            ],
+            [
+                [
+                    0.8989953592802912
+                ]
+            ],
+            [
+                [
+                    0.8999274698672487
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9917572794799405
+                ]
+            ],
+            [
+                [
+                    0.9917570552591037
+                ]
+            ],
+            [
+                [
+                    0.9917532701818627
+                ]
+            ]
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3093327935767894
+                ]
+            ],
+            [
+                [
+                    0.31196291514987906
+                ]
+            ],
+            [
+                [
+                    0.30845525761792447
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0008650161781385973
+                ]
+            ],
+            [
+                [
+                    0.0007704960227684548
+                ]
+            ],
+            [
+                [
+                    0.0006710255640947305
+                ]
+            ]
+        ],
+        "count": [
+            1958835200
+        ],
+        "q01": [
+            [
+                [
+                    0.023467437009037365
+                ]
+            ],
+            [
+                [
+                    0.023471793051296878
+                ]
+            ],
+            [
+                [
+                    0.023450350434924265
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.11233683864482934
+                ]
+            ],
+            [
+                [
+                    0.12239809630191589
+                ]
+            ],
+            [
+                [
+                    0.12053286417427103
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.25424570626692433
+                ]
+            ],
+            [
+                [
+                    0.25758090334799777
+                ]
+            ],
+            [
+                [
+                    0.25425040804036325
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6046195707162084
+                ]
+            ],
+            [
+                [
+                    0.60585805637768
+                ]
+            ],
+            [
+                [
+                    0.5949761867926793
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7205594278091133
+                ]
+            ],
+            [
+                [
+                    0.7180210840764547
+                ]
+            ],
+            [
+                [
+                    0.7283559896239225
+                ]
+            ]
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.35159656405448914,
+            0.14404138922691345,
+            0.928560197353363,
+            -1.4907735586166382,
+            1.1291160583496094,
+            -1.7961584329605103,
+            0.2394179254770279,
+            -0.3637067675590515,
+            0.9379682540893555,
+            -0.7056066989898682,
+            1.0297925472259521,
+            0.24525831639766693
+        ],
+        "max": [
+            0.4523690342903137,
+            0.23729994893074036,
+            1.093589186668396,
+            -0.6987577676773071,
+            2.1726298332214355,
+            -1.1024792194366455,
+            0.5091120004653931,
+            -0.03702371194958687,
+            1.1836131811141968,
+            1.279338002204895,
+            2.0450847148895264,
+            1.5543174743652344
+        ],
+        "mean": [
+            0.4020723380338383,
+            0.19277802946276448,
+            0.9973877444792238,
+            -1.2000765148148858,
+            1.6970007689344386,
+            -1.5437933168450888,
+            0.4198505929132337,
+            -0.16174387514041264,
+            1.0700296524176525,
+            -0.07968683514381042,
+            1.6765348459886371,
+            0.6654187487049686
+        ],
+        "std": [
+            0.018769997966146174,
+            0.019328134830468607,
+            0.024505599632039715,
+            0.11765239448716894,
+            0.1676412122109438,
+            0.09668992818688409,
+            0.056855045390903566,
+            0.05784768101678047,
+            0.04750344333891654,
+            0.29092247299004437,
+            0.1458744056282483,
+            0.19528326957643471
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            0.3725702764465425,
+            0.17665600452217198,
+            0.971692588314306,
+            -1.2841393078908785,
+            1.2760730735808548,
+            -1.6437257913967456,
+            0.2805289902199647,
+            -0.2752367221251424,
+            0.9766120969614159,
+            -0.4996330877187268,
+            1.23427091229721,
+            0.3785828860987815
+        ],
+        "q10": [
+            0.39208800183124654,
+            0.1826874781656815,
+            0.9764905601459819,
+            -1.2661642756982254,
+            1.5289089634270383,
+            -1.6171051762791786,
+            0.3332454271711241,
+            -0.2430296095630006,
+            1.0050701682390568,
+            -0.3617017831733944,
+            1.5074625541564601,
+            0.47634669965560367
+        ],
+        "q50": [
+            0.40344420294056044,
+            0.19224846207871946,
+            0.9942068572903145,
+            -1.2115306418636738,
+            1.7251828695628506,
+            -1.559074482547823,
+            0.4374242109654332,
+            -0.15859614083528595,
+            1.0824425355330953,
+            -0.12412094208134025,
+            1.690895865773881,
+            0.6332437965150637
+        ],
+        "q90": [
+            0.4107896643914688,
+            0.20381679977297454,
+            1.0241151863164624,
+            -1.1167289513624594,
+            1.8301408989320884,
+            -1.468629388495309,
+            0.4761994484895458,
+            -0.08826351175375566,
+            1.1227999645318965,
+            0.17567892322350692,
+            1.8446506321469411,
+            0.8559579449423025
+        ],
+        "q99": [
+            0.4133273940381227,
+            0.210780775156108,
+            1.0521389162325983,
+            -0.9298951218737762,
+            1.8664067944835896,
+            -1.2560633527560787,
+            0.4863103429750874,
+            -0.06485105152351214,
+            1.146453144171155,
+            1.1546525313959781,
+            1.932226100591111,
+            1.351165815478697
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            76516
+        ],
+        "mean": [
+            38258.0
+        ],
+        "std": [
+            22088.55527190495
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            37167.16446787036
+        ],
+        "q10": [
+            37367.485455300586
+        ],
+        "q50": [
+            38257.96642086072
+        ],
+        "q90": [
+            39148.445294206074
+        ],
+        "q99": [
+            39348.83553212965
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3063600919526853
+                ]
+            ],
+            [
+                [
+                    0.30878252440882353
+                ]
+            ],
+            [
+                [
+                    0.304452681687326
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0009814841268376943
+                ]
+            ],
+            [
+                [
+                    0.001043307657544946
+                ]
+            ],
+            [
+                [
+                    0.001033615203957064
+                ]
+            ]
+        ],
+        "count": [
+            1958835200
+        ],
+        "q01": [
+            [
+                [
+                    0.0234972716368628
+                ]
+            ],
+            [
+                [
+                    0.023514801404859734
+                ]
+            ],
+            [
+                [
+                    0.023445753195896223
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.0983920253072167
+                ]
+            ],
+            [
+                [
+                    0.1014565788725992
+                ]
+            ],
+            [
+                [
+                    0.09873019600626012
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.27659295370051507
+                ]
+            ],
+            [
+                [
+                    0.27757343847055976
+                ]
+            ],
+            [
+                [
+                    0.27574025768130556
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5721411133112385
+                ]
+            ],
+            [
+                [
+                    0.5733041999487796
+                ]
+            ],
+            [
+                [
+                    0.5637085727610185
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8037225166422378
+                ]
+            ],
+            [
+                [
+                    0.8040756274035474
+                ]
+            ],
+            [
+                [
+                    0.7943285961435242
+                ]
+            ]
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            98.73333333333333
+        ],
+        "mean": [
+            37.0863307064661
+        ],
+        "std": [
+            22.24006299800714
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            0.7251463020500608
+        ],
+        "q10": [
+            7.402512549741131
+        ],
+        "q50": [
+            37.08463579605402
+        ],
+        "q90": [
+            66.7678405134126
+        ],
+        "q99": [
+            73.44751511088214
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            2962
+        ],
+        "mean": [
+            1112.589921193983
+        ],
+        "std": [
+            667.2018899402145
+        ],
+        "count": [
+            76517
+        ],
+        "q01": [
+            21.754389064345155
+        ],
+        "q10": [
+            222.07537649455512
+        ],
+        "q50": [
+            1112.556342054707
+        ],
+        "q90": [
+            2003.035215400057
+        ],
+        "q99": [
+            2203.4254533236203
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.06274509803921569
+                ]
+            ],
+            [
+                [
+                    0.06274509803921569
+                ]
+            ],
+            [
+                [
+                    0.06274509803921569
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4897135744392442
+                ]
+            ],
+            [
+                [
+                    0.4897135744392442
+                ]
+            ],
+            [
+                [
+                    0.4897135744392442
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0020531070964854427
+                ]
+            ],
+            [
+                [
+                    0.0020531070964854427
+                ]
+            ],
+            [
+                [
+                    0.0020531070964854427
+                ]
+            ]
+        ],
+        "count": [
+            587650560
+        ],
+        "q01": [
+            [
+                [
+                    0.13333654569341755
+                ]
+            ],
+            [
+                [
+                    0.13333654569341755
+                ]
+            ],
+            [
+                [
+                    0.13333654569341755
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.21175024153615035
+                ]
+            ],
+            [
+                [
+                    0.21175024153615035
+                ]
+            ],
+            [
+                [
+                    0.21175024153615035
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.4674762279269809
+                ]
+            ],
+            [
+                [
+                    0.4674762279269809
+                ]
+            ],
+            [
+                [
+                    0.4674762279269809
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8097204897424086
+                ]
+            ],
+            [
+                [
+                    0.8097204897424086
+                ]
+            ],
+            [
+                [
+                    0.8097204897424086
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9875988907864224
+                ]
+            ],
+            [
+                [
+                    0.9875988907864224
+                ]
+            ],
+            [
+                [
+                    0.9875988907864224
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/subtasks.parquet b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a0fe430f6a91a23fa96d23b673c12745f468e75c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccea80af781088d6c801d516518e7901d7be20a87ee4b2f3460b544b21fad834
+size 93168
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/tasks.parquet b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2142211ffc6635f4463401fde9c15d326b15e9e3
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0348ae1690e86e662adefec06fac00d8c0ca33e6abc856eee2e9e316a91f2e42
+size 1768
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2926ddec6e1db9de624044f1cbb5749dd8a3911e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 35,
+  "frames": 76517,
+  "video_frames": {
+    "observation.images.head_left": 76517,
+    "observation.images.wrist_left": 76517,
+    "observation.images.wrist_right": 76517,
+    "observation.images.head_right": 76517,
+    "observation.images.tactile_deform": 76517,
+    "observation.images.tactile_raw": 76517
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 35
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69cb418a8da94e1a7f6f7b55f98f4fc782eced21
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39eabc67dc3cec3f283ea012ef740cf87d4e1715373ae83df9fb184c41f98e46
+size 206466729
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9bb6517fad980cfa47a59eede4966630335be841
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e30b454364821a6076d80018d5531232e328829bb0acbe30ba385fb279f84b
+size 65841575
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..013f1d17dd285de667300c2c5c6c72c972f644a5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:003cea4a3cc8207827f1cf4d90ac3fa6133ba15d70157883c5651feae5423c36
+size 204036099
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7cbe8736084f4b6212bf32d6a620e085480fe6f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42183d86600a4d7d5a48c17cce208083ca5d89abde34c8f1bd4c0b4d6d83a54c
+size 73782730
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cb3b984344bed8daa6deedd6e3410d2a87543ece
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eebddaa4b2d6cc18ad60b370d807ac4ba34795effcaee7ee62af9662ef5320a
+size 18144847
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7241af37382df99900563591b39c8c3f91aa0ce
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50446a1d9abc8933ad869c92aab31979b8b16a0e7767a399ff1441d6fb015dde
+size 121226525
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..32953799d6c3b56a218c31451325fd5001a30c6f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad4a748799125dab80e01d143341c64537b007bf040bc6ee574a91343c68bd1
+size 141080652
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41bce7a0e3d5615ae49f94515dccfb4c499c74b4
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a343930b7ac48ff34bc6242f83bea456df13b40b751614c753c96ab61d6677
+size 108130100
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78a48b4bae5c02ad1cf5cc01fa47fc84be715fa7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995d23e7e9eca65b42f28b85f7c60f239b08085c525d071405b9f70be97981ca
+size 121772419
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9243ec20375a0f471194a873337736bc2e06fc2b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d3f4a3ac4520c69e81cf664f714ce26111b2e768a7269b4556195236791058
+size 109366908
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..260436cc7b72593f5b57374d15d4de5e9b03536d
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f29c07f73c4ae552f513200daf6fcc20140df8c7fb9ff8fe207b5643b6d431d1
+size 104078123
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c2adb066a0222fcbbb55de630c23410c7cdd9a2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c27a113852b7ef4379152e3b529c41474fba0ad588d14293b6c85baa682b3606
+size 203903797
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afe5eb081bba4caabe213ef850006deb841f4ed1
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c0818c8e39304d59a7963b04a9f8685d256a14ee3d018288b3e4afd560aa04c
+size 109400848
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22a15f7f99decd68f64b1060ae62d22903018879
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5d57c35b2356ee679af904d595da26eeb8f2a99d84f8073ed9040c56253f3e
+size 199316707
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c397929998bc8572bbc77a285b25f6e4766b95b6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b83c54df10cfb715b91de2aeb615a765d064f568b9d7c46926330195b9211cab
+size 198874732
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-010.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a9b0c34903e40980820fbed79a2c0ebebb5e961
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933fd786b1ada9262299cb67f7f9ac54b327fd88e3a76e4d8ee2a4c5db8bc68d
+size 207497158
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-011.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d475fae6a9bab81093140b34724f7282b2170883
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703c31c3a6570518f976d50bcc4cbb8d0615d04480bd0340e0a9079922a2e221
+size 91673979
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-012.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14f4fdef700437f8e9c163b5041897a4acdea63b
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1654c36171cc1e79cea5b35b4be727623f9bd887f5233a0e86bde1ec4f31ab3b
+size 140579013
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-013.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf4881a99904c262d1a79de50699326644749873
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f653eb0ca60cccda025103847c177287852a609f079ecf58d5380e3b49d137b
+size 93437333
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-014.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e303980c632a8924fa306da642d66a231e884ad6
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f5f326e97b4512086a05402e57be5e0dcc5c9550e604bf816c40762d9cc408
+size 123698093
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-015.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca075675c041a75c84c72e6eca2a5d85bd70f9c7
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5990ae58c86cda21b7196bce0c4746c2d4250db18f97498a48679764f959b622
+size 204461571
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-016.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b00636b0d5634fa8c80412c810ab7a0b2039eb20
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e189fec1616015f2e704434a206f3df7103b2c8f1c0ed126b6830246c14266a
+size 174386123
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-017.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4710677694f6165687149d1e56399096abf0728f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1fb5cbd4346d5174f2ec7eefa37619ca23eef05c04e00cd17f7685bf76ca350
+size 116627036
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-018.mp4 b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02ee5a388c9b35de050973ed3c4fd70ca6ef8ae2
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_28_19_19_22_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf046433994ad40cb4cad721d8dee8bd41625c11d2996ec0265d672b87ed3ee
+size 180446531