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The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1385} +{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1472} +{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. 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Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1327} +{"episode_index": 7, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. 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Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1629} +{"episode_index": 10, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. 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"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/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,5 @@ +{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"} +{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"} +{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"} +{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"} +{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_20_29_31_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. 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"end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "home", "start_step": 1194, "end_step": 1341, "id": "4ZtQIzfkFrWvMSXHZoZJE"}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "episode_index": 0} +{"source_uid": "596ea6039c34ce5c", "num_frames": 1489, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1340, "id": "H213m0VZ-yGqbN77KSq9Q"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}, {"label": "home", "start_step": 1341, "end_step": 1488, "id": "zis34A1n8SvtrX48tFm4m"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}], "episode_index": 1} +{"source_uid": "aabd1aaff1865e00", "num_frames": 1469, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "valid", "start_step": 0, "end_step": 1319, "id": "5V_eBtvVoSovDmBYEx_IP"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "home", "start_step": 1320, "end_step": 1468, "id": "qG3ZHyNhX6raxpITHvdwA"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "episode_index": 2} +{"source_uid": "798e58e75a46f322", "num_frames": 1460, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1311, "id": "DPQYAa9pF5hpPJ1AIZM2U"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "home", "start_step": 1312, "end_step": 1459, "id": "sxSNLeODqTPiOo81IJCPr"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "episode_index": 3} +{"source_uid": "504c5a7fd01aa49b", "num_frames": 1276, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1126, "id": "-aV1WzDhLuOSeDggA-Em9"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "home", "start_step": 1127, "end_step": 1275, "id": "G10DnuPyR_ZqIYbvARQIQ"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "episode_index": 4} +{"source_uid": "eb92d6bf4dc0caeb", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1069, "id": "yIW6MWfGRYPzvR9jTDh4D"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "home", "start_step": 1070, "end_step": 1218, "id": "vIE_Mbx9_TKhBOWEcdKom"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "episode_index": 5} +{"source_uid": "d5844cef0d66ea26", "num_frames": 1190, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "valid", "start_step": 0, "end_step": 1040, "id": "yFgpWfOnvKr9zNE6YWQuy"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "home", "start_step": 1041, "end_step": 1189, "id": "asrImB6upVVbqTB8Zc3vf"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "episode_index": 6} +{"source_uid": "2918917e247e9c3f", "num_frames": 1401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "valid", "start_step": 0, "end_step": 1252, "id": "vNeIdmyaOdCfLWKpASq-A"}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "home", "start_step": 1253, "end_step": 1400, "id": "8exFpA0rMceMQ12GZLqer"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "episode_index": 7} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb1b57460090f8b848cc1ae15a5cf485f8931064 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/annotations.jsonl @@ -0,0 +1,8 @@ +{"source_uid": "ed558ef140536c91", "num_frames": 1342, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1193, "id": "qD9EWQJwRhwRJHMf5YMcO"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "home", "start_step": 1194, "end_step": 1341, "id": "4ZtQIzfkFrWvMSXHZoZJE"}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "episode_index": 0} +{"source_uid": "596ea6039c34ce5c", "num_frames": 1489, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1340, "id": "H213m0VZ-yGqbN77KSq9Q"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}, {"label": "home", "start_step": 1341, "end_step": 1488, "id": "zis34A1n8SvtrX48tFm4m"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}], "episode_index": 1} +{"source_uid": "aabd1aaff1865e00", "num_frames": 1469, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "valid", "start_step": 0, "end_step": 1319, "id": "5V_eBtvVoSovDmBYEx_IP"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "home", "start_step": 1320, "end_step": 1468, "id": "qG3ZHyNhX6raxpITHvdwA"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "episode_index": 2} +{"source_uid": "798e58e75a46f322", "num_frames": 1460, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1311, "id": "DPQYAa9pF5hpPJ1AIZM2U"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "home", "start_step": 1312, "end_step": 1459, "id": "sxSNLeODqTPiOo81IJCPr"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "episode_index": 3} +{"source_uid": "504c5a7fd01aa49b", "num_frames": 1276, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1126, "id": "-aV1WzDhLuOSeDggA-Em9"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "home", "start_step": 1127, "end_step": 1275, "id": "G10DnuPyR_ZqIYbvARQIQ"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "episode_index": 4} +{"source_uid": "eb92d6bf4dc0caeb", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1069, "id": "yIW6MWfGRYPzvR9jTDh4D"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "home", "start_step": 1070, "end_step": 1218, "id": "vIE_Mbx9_TKhBOWEcdKom"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "episode_index": 5} +{"source_uid": "d5844cef0d66ea26", "num_frames": 1190, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "valid", "start_step": 0, "end_step": 1040, "id": "yFgpWfOnvKr9zNE6YWQuy"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "home", "start_step": 1041, "end_step": 1189, "id": "asrImB6upVVbqTB8Zc3vf"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "episode_index": 6} +{"source_uid": "2918917e247e9c3f", "num_frames": 1401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "valid", "start_step": 0, "end_step": 1252, "id": "vNeIdmyaOdCfLWKpASq-A"}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "home", "start_step": 1253, "end_step": 1400, "id": "8exFpA0rMceMQ12GZLqer"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "episode_index": 7} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b205f2a46a4b49b9a8ef4a43c3c2a9552c297018 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes.jsonl @@ -0,0 +1,8 @@ +{"episode_index": 0, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1342} +{"episode_index": 1, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1489} +{"episode_index": 2, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1469} +{"episode_index": 3, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1460} +{"episode_index": 4, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1276} +{"episode_index": 5, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1219} +{"episode_index": 6, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1190} +{"episode_index": 7, "tasks": ["Task: Fit_Trash_Bag_into_Trash_Bin"], "length": 1401} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eac8d10984bdeabf28be2cc4e10fc00f0ecb209 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/episodes_stats.jsonl @@ -0,0 +1,8 @@ +{"episode_index": 0, "stats": {"observation.state": {"min": [0.908729076385498, -1.036993145942688, -0.2546756863594055, 0.8039501905441284, -1.6332623958587646, -0.7526893019676208, -0.5413246750831604, 0.008677736856043339, -0.2932579517364502, -0.26091137528419495, -0.2695135474205017, 0.003486062167212367, 0.008663025684654713, -8.193490066332743e-05, 0.0035098178777843714, 0.0008602404268458486, 0.00357717159204185, -0.00044132021139375865, 0.0034839347936213017, 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], + "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/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bd049ea350cdb7eff161ee138d71473383ba56a --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,242 @@ +{"subtask_index": 0, "subtask": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 1, "subtask": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 2, "subtask": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 3, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."} +{"subtask_index": 4, "subtask": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."} +{"subtask_index": 5, "subtask": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."} +{"subtask_index": 6, "subtask": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."} +{"subtask_index": 7, "subtask": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."} +{"subtask_index": 8, "subtask": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."} +{"subtask_index": 9, "subtask": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."} +{"subtask_index": 10, "subtask": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."} +{"subtask_index": 11, "subtask": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."} +{"subtask_index": 12, "subtask": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."} +{"subtask_index": 13, "subtask": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."} +{"subtask_index": 14, "subtask": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."} +{"subtask_index": 15, "subtask": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."} +{"subtask_index": 16, "subtask": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."} +{"subtask_index": 17, "subtask": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."} +{"subtask_index": 18, "subtask": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."} +{"subtask_index": 19, "subtask": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."} +{"subtask_index": 20, "subtask": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."} +{"subtask_index": 21, "subtask": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."} +{"subtask_index": 22, "subtask": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."} +{"subtask_index": 23, "subtask": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."} +{"subtask_index": 24, "subtask": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."} +{"subtask_index": 25, "subtask": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."} +{"subtask_index": 26, "subtask": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."} +{"subtask_index": 27, "subtask": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."} +{"subtask_index": 28, "subtask": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."} +{"subtask_index": 29, "subtask": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."} +{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."} +{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."} +{"subtask_index": 32, "subtask": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."} +{"subtask_index": 33, "subtask": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."} +{"subtask_index": 34, "subtask": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."} +{"subtask_index": 35, "subtask": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."} +{"subtask_index": 36, "subtask": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."} +{"subtask_index": 37, "subtask": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."} +{"subtask_index": 38, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."} +{"subtask_index": 39, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."} +{"subtask_index": 40, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."} +{"subtask_index": 41, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."} +{"subtask_index": 42, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."} +{"subtask_index": 43, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."} +{"subtask_index": 44, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."} +{"subtask_index": 45, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."} +{"subtask_index": 46, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."} +{"subtask_index": 47, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."} +{"subtask_index": 48, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."} +{"subtask_index": 49, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."} +{"subtask_index": 50, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."} +{"subtask_index": 51, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."} +{"subtask_index": 52, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."} +{"subtask_index": 53, "subtask": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."} +{"subtask_index": 54, "subtask": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."} +{"subtask_index": 55, "subtask": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."} +{"subtask_index": 56, "subtask": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."} +{"subtask_index": 57, "subtask": "Task: Fit_Trash_Bag_into_Trash_Bin"} +{"subtask_index": 58, "subtask": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."} +{"subtask_index": 59, "subtask": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."} +{"subtask_index": 60, "subtask": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."} +{"subtask_index": 61, "subtask": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."} +{"subtask_index": 62, "subtask": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."} +{"subtask_index": 63, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."} +{"subtask_index": 64, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."} +{"subtask_index": 65, "subtask": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."} +{"subtask_index": 66, "subtask": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."} +{"subtask_index": 67, "subtask": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."} +{"subtask_index": 68, "subtask": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."} +{"subtask_index": 69, "subtask": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."} +{"subtask_index": 70, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."} +{"subtask_index": 71, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."} +{"subtask_index": 72, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."} +{"subtask_index": 73, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."} +{"subtask_index": 74, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."} +{"subtask_index": 75, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."} +{"subtask_index": 76, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."} +{"subtask_index": 77, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."} +{"subtask_index": 78, "subtask": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."} +{"subtask_index": 79, "subtask": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."} +{"subtask_index": 80, "subtask": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."} +{"subtask_index": 81, "subtask": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."} +{"subtask_index": 82, "subtask": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."} +{"subtask_index": 83, "subtask": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."} +{"subtask_index": 84, "subtask": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."} +{"subtask_index": 85, "subtask": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."} +{"subtask_index": 86, "subtask": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."} +{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."} +{"subtask_index": 88, "subtask": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."} +{"subtask_index": 89, "subtask": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."} +{"subtask_index": 90, "subtask": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."} +{"subtask_index": 91, "subtask": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 92, "subtask": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 93, "subtask": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 94, "subtask": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."} +{"subtask_index": 95, "subtask": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."} +{"subtask_index": 96, "subtask": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."} +{"subtask_index": 97, "subtask": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."} +{"subtask_index": 98, "subtask": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."} +{"subtask_index": 99, "subtask": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."} +{"subtask_index": 100, "subtask": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."} +{"subtask_index": 101, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."} +{"subtask_index": 102, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."} +{"subtask_index": 103, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."} +{"subtask_index": 104, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."} +{"subtask_index": 105, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."} +{"subtask_index": 106, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."} +{"subtask_index": 107, "subtask": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."} +{"subtask_index": 108, "subtask": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."} +{"subtask_index": 109, "subtask": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."} +{"subtask_index": 110, "subtask": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."} +{"subtask_index": 111, "subtask": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."} +{"subtask_index": 112, "subtask": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."} +{"subtask_index": 113, "subtask": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."} +{"subtask_index": 114, "subtask": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."} +{"subtask_index": 115, "subtask": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."} +{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."} +{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."} +{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."} +{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty and stationary at the home position."} +{"subtask_index": 120, "subtask": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."} +{"subtask_index": 121, "subtask": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."} +{"subtask_index": 122, "subtask": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."} +{"subtask_index": 123, "subtask": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."} +{"subtask_index": 124, "subtask": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."} +{"subtask_index": 125, "subtask": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."} +{"subtask_index": 126, "subtask": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."} +{"subtask_index": 127, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."} +{"subtask_index": 128, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."} +{"subtask_index": 129, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."} +{"subtask_index": 130, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."} +{"subtask_index": 131, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."} +{"subtask_index": 132, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."} +{"subtask_index": 133, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."} +{"subtask_index": 134, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."} +{"subtask_index": 135, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."} +{"subtask_index": 136, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."} +{"subtask_index": 137, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."} +{"subtask_index": 138, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."} +{"subtask_index": 139, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."} +{"subtask_index": 140, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."} +{"subtask_index": 141, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."} +{"subtask_index": 142, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."} +{"subtask_index": 143, "subtask": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."} +{"subtask_index": 144, "subtask": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."} +{"subtask_index": 145, "subtask": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."} +{"subtask_index": 146, "subtask": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."} +{"subtask_index": 147, "subtask": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."} +{"subtask_index": 148, "subtask": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."} +{"subtask_index": 149, "subtask": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."} +{"subtask_index": 150, "subtask": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."} +{"subtask_index": 151, "subtask": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."} +{"subtask_index": 152, "subtask": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."} +{"subtask_index": 153, "subtask": "Left hand: hold: Left hand holds the black plastic bag on the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."} +{"subtask_index": 154, "subtask": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."} +{"subtask_index": 155, "subtask": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."} +{"subtask_index": 156, "subtask": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."} +{"subtask_index": 157, "subtask": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."} +{"subtask_index": 158, "subtask": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."} +{"subtask_index": 159, "subtask": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."} +{"subtask_index": 160, "subtask": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."} +{"subtask_index": 161, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."} +{"subtask_index": 162, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."} +{"subtask_index": 163, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."} +{"subtask_index": 164, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."} +{"subtask_index": 165, "subtask": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."} +{"subtask_index": 166, "subtask": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."} +{"subtask_index": 167, "subtask": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."} +{"subtask_index": 168, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."} +{"subtask_index": 169, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."} +{"subtask_index": 170, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."} +{"subtask_index": 171, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."} +{"subtask_index": 172, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."} +{"subtask_index": 173, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."} +{"subtask_index": 174, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."} +{"subtask_index": 175, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."} +{"subtask_index": 176, "subtask": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."} +{"subtask_index": 177, "subtask": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."} +{"subtask_index": 178, "subtask": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."} +{"subtask_index": 179, "subtask": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."} +{"subtask_index": 180, "subtask": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."} +{"subtask_index": 181, "subtask": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."} +{"subtask_index": 182, "subtask": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."} +{"subtask_index": 183, "subtask": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."} +{"subtask_index": 184, "subtask": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."} +{"subtask_index": 185, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."} +{"subtask_index": 186, "subtask": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."} +{"subtask_index": 187, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."} +{"subtask_index": 188, "subtask": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."} +{"subtask_index": 189, "subtask": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."} +{"subtask_index": 190, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."} +{"subtask_index": 191, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."} +{"subtask_index": 192, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."} +{"subtask_index": 193, "subtask": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."} +{"subtask_index": 194, "subtask": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."} +{"subtask_index": 195, "subtask": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."} +{"subtask_index": 196, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."} +{"subtask_index": 197, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."} +{"subtask_index": 198, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."} +{"subtask_index": 199, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."} +{"subtask_index": 200, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."} +{"subtask_index": 201, "subtask": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."} +{"subtask_index": 202, "subtask": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."} +{"subtask_index": 203, "subtask": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."} +{"subtask_index": 204, "subtask": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."} +{"subtask_index": 205, "subtask": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."} +{"subtask_index": 206, "subtask": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."} +{"subtask_index": 207, "subtask": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."} +{"subtask_index": 208, "subtask": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."} +{"subtask_index": 209, "subtask": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."} +{"subtask_index": 210, "subtask": "Left hand: transport: Left hand carries the black plastic bag moving upward."} +{"subtask_index": 211, "subtask": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."} +{"subtask_index": 212, "subtask": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."} +{"subtask_index": 213, "subtask": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."} +{"subtask_index": 214, "subtask": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."} +{"subtask_index": 215, "subtask": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."} +{"subtask_index": 216, "subtask": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."} +{"subtask_index": 217, "subtask": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."} +{"subtask_index": 218, "subtask": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."} +{"subtask_index": 219, "subtask": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."} +{"subtask_index": 220, "subtask": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."} +{"subtask_index": 221, "subtask": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."} +{"subtask_index": 222, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."} +{"subtask_index": 223, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."} +{"subtask_index": 224, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."} +{"subtask_index": 225, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."} +{"subtask_index": 226, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."} +{"subtask_index": 227, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."} +{"subtask_index": 228, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."} +{"subtask_index": 229, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."} +{"subtask_index": 230, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."} +{"subtask_index": 231, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."} +{"subtask_index": 232, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."} +{"subtask_index": 233, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."} +{"subtask_index": 234, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."} +{"subtask_index": 235, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."} +{"subtask_index": 236, "subtask": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."} +{"subtask_index": 237, "subtask": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."} +{"subtask_index": 238, "subtask": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."} +{"subtask_index": 239, "subtask": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."} +{"subtask_index": 240, "subtask": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."} +{"subtask_index": 241, "subtask": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6351c97d48cd14b1b21ccb9136fe78616b939bfd --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit_Trash_Bag_into_Trash_Bin"} diff --git 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adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the 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fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "episode_index": 0} +{"source_uid": "596ea6039c34ce5c", "num_frames": 1489, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1340, "id": "H213m0VZ-yGqbN77KSq9Q"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}, {"label": "home", "start_step": 1341, "end_step": 1488, "id": "zis34A1n8SvtrX48tFm4m"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}], "episode_index": 1} +{"source_uid": "aabd1aaff1865e00", "num_frames": 1469, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "valid", "start_step": 0, "end_step": 1319, "id": "5V_eBtvVoSovDmBYEx_IP"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "home", "start_step": 1320, "end_step": 1468, "id": "qG3ZHyNhX6raxpITHvdwA"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "episode_index": 2} +{"source_uid": "798e58e75a46f322", "num_frames": 1460, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1311, "id": "DPQYAa9pF5hpPJ1AIZM2U"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "home", "start_step": 1312, "end_step": 1459, "id": "sxSNLeODqTPiOo81IJCPr"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "episode_index": 3} +{"source_uid": "504c5a7fd01aa49b", "num_frames": 1276, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1126, "id": "-aV1WzDhLuOSeDggA-Em9"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "home", "start_step": 1127, "end_step": 1275, "id": "G10DnuPyR_ZqIYbvARQIQ"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "episode_index": 4} +{"source_uid": "eb92d6bf4dc0caeb", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1069, "id": "yIW6MWfGRYPzvR9jTDh4D"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "home", "start_step": 1070, "end_step": 1218, "id": "vIE_Mbx9_TKhBOWEcdKom"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "episode_index": 5} +{"source_uid": "d5844cef0d66ea26", "num_frames": 1190, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "valid", "start_step": 0, "end_step": 1040, "id": "yFgpWfOnvKr9zNE6YWQuy"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "home", "start_step": 1041, "end_step": 1189, "id": "asrImB6upVVbqTB8Zc3vf"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "episode_index": 6} +{"source_uid": "2918917e247e9c3f", "num_frames": 1401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "valid", "start_step": 0, "end_step": 1252, "id": "vNeIdmyaOdCfLWKpASq-A"}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "home", "start_step": 1253, "end_step": 1400, "id": "8exFpA0rMceMQ12GZLqer"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "episode_index": 7} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v3.0/meta/annotations.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v3.0/meta/annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb1b57460090f8b848cc1ae15a5cf485f8931064 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v3.0/meta/annotations.jsonl @@ -0,0 +1,8 @@ +{"source_uid": "ed558ef140536c91", "num_frames": 1342, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1193, "id": "qD9EWQJwRhwRJHMf5YMcO"}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "home", "start_step": 1194, "end_step": 1341, "id": "4ZtQIzfkFrWvMSXHZoZJE"}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves toward the black plastic bag placed on the left side of the table without touching the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the left side of the table, and closes fingers to grasp the edge of the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand closes its fingers to grip the edge of the black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the black plastic bag upward from the table surface until the bag is fully off the support. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: reach: Right hand moves leftward toward the lifted black plastic bag to approach its edge."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag moving rightward above the mesh trash bin. | Right hand: grasp: Right hand touches the edge of the black plastic bag and starts to form a grasp on it."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: reach: Right hand moves towards the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand adjusts its fingers on the left edge of the black plastic bag to form a stable grip. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00009", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: grasp: Right hand closes its fingers around the right edge of the black plastic bag, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: unfold: Left hand holds the left edge of the black plastic bag and pulls it outward to unfold the bag. | Right hand: unfold: Right hand holds the right edge of the black plastic bag and pulls it outward to unfold the bag."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: transport: Left hand holds the black plastic bag and moves it to the position above the trash bin. | Right hand: transport: Right hand holds the black plastic bag and moves it to the position above the trash bin."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin. | Right hand: place: Right hand lowers the black plastic bag into the trash bin until the bag is placed inside the bin."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: retreat: Right hand retreats upward and rightward after releasing the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: reach: Right hand reaches toward the inner edge of the plastic bag at the front side."}, {"label": "subtasks", "start_step": 518, "end_step": 531, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: grasp: Right hand grasps the inner edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 532, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: transport: Right hand carries the grasped plastic bag edge to adjust its position."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the plastic bag without moving. | Right hand: release_retreat: Right hand releases the plastic bag edge and retreats upward."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: reach: Right hand moves towards the right edge of the plastic bag."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: grasp: Right hand grasps the right edge of the plastic bag with fingers closing."}, {"label": "subtasks", "start_step": 660, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the plastic bag upwards and outwards. | Right hand: pull: Right hand pulls the right edge of the plastic bag upwards and outwards."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00021", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: reach: Right hand moves toward the right edge of the black plastic bag on the trash bin, fingers keep open during movement."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag, moves it slowly toward the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, fingers adjust slightly to form stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand folds the left edge of the black plastic bag over the outer rim of the trash bin. | Right hand: fold: Right hand folds the grasped plastic bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: release: Right hand releases the plastic bag edge, fingers open to separate from the bag."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: reach: Right hand reaches towards the inner bottom of the plastic bag."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded plastic bag edge against the trash bin rim without moving. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: release: Left hand releases the left edge of the plastic bag. | Right hand: grasp: Right hand grasps and adjusts the bottom position of the plastic bag."}, {"label": "subtasks", "start_step": 1132, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: retreat: Left hand retreats from the plastic bag to the left side. | Right hand: retreat: Right hand retreats from the inner part of the plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand moves upward away from the trash bin to the initial upright home position. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1238, "end_step": 1244, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: return_home: Right hand moves upward away from the trash bin to the initial upright home position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the initial upright home position without moving. | Right hand: idle: Right hand remains empty at the initial upright home position without moving."}], "episode_index": 0} +{"source_uid": "596ea6039c34ce5c", "num_frames": 1489, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1340, "id": "H213m0VZ-yGqbN77KSq9Q"}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}, {"label": "home", "start_step": 1341, "end_step": 1488, "id": "zis34A1n8SvtrX48tFm4m"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers to approach the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 68, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand adjusts finger positions and closes fingers to form a grip on the black plastic bag located to the left of the mesh trash can. | Right hand: idle: Right hand remains empty on the right side of the frame without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand, which already grips the black plastic bag, lifts the bag upward until the entire bag is raised off the black table surface. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: reach: Right hand moves leftward from the right side of the frame with an empty hand, approaching the side edge of the black plastic bag."}, {"label": "subtasks", "start_step": 210, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: grasp: Right hand adjusts its finger positions and closes its fingers around the side edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand carries the lifted black plastic bag, moving it continuously upward to position the bag above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: transport: Right hand carries the grasped edge of the black plastic bag, moving upward and slightly adjusting position to stretch the bag open above the mesh trash can."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the outer right edge of the black garbage bag, separating from the bag edge."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the upper surface of the black garbage bag, adjusting finger posture while approaching the bag surface without contact."}, {"label": "subtasks", "start_step": 488, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: press: Right hand contacts the surface of the black garbage bag and presses downward, pushing the bag deeper into the trash can with slight pressure adjustments."}, {"label": "subtasks", "start_step": 660, "end_step": 764, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand lifts upward from inside the trash can, retreats away from the pressed bag surface while adjusting finger posture."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves toward the outer right edge of the black garbage bag, approaching the edge to make contact."}, {"label": "subtasks", "start_step": 795, "end_step": 914, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand firmly grasps the upper right outer edge of the black plastic bag and pulls it outward to stretch the bag opening."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers gradually to release the upper right edge of the black plastic bag, separating from the bag completely by the end of the segment."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves empty downward toward the lower right section of the plastic bag edge, approaching the new target contact point."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: grasp: Right hand closes its fingers around the lower right edge of the black plastic bag, adjusting finger positions slightly to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: pull: Right hand holds the grasped lower right edge of the black plastic bag and pulls it outward away from the trash bin opening."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens its fingers to release the lower right edge of the black plastic bag, moving slightly away from the bag surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: release: Right hand opens fingers to release the right rim of the black plastic bag."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward away from the right rim of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: reach: Right hand moves downward into the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the black plastic bag steadily above the mesh trash can with no observable movement of the hand or the bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00023", "text": "Left hand: release: Left hand opens fingers to release the left rim of the black plastic bag. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: retreat: Left hand moves leftward away from the black plastic bag with an empty hand. | Right hand: retreat: Right hand moves upward out of the interior of the black plastic bag with an empty hand."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position. | Right hand: return_home: Right hand moves upward and outward away from the black trash bag, extending its fingers as it travels to a raised stationary position."}], "episode_index": 1} +{"source_uid": "aabd1aaff1865e00", "num_frames": 1469, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "valid", "start_step": 0, "end_step": 1319, "id": "5V_eBtvVoSovDmBYEx_IP"}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "home", "start_step": 1320, "end_step": 1468, "id": "qG3ZHyNhX6raxpITHvdwA"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_downward: Left empty hand moves downward from an upright raised position on the left side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture. | Right hand: other:move_downward: Right empty hand moves downward from an upright raised position on the right side of the central mesh trash bin, with fingers gradually bending from the initial straight upward posture."}, {"label": "subtasks", "start_step": 45, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves downward toward the crumpled black plastic bag on the left side of the table."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand grasps the crumpled black plastic bag on the left side of the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the crumpled black plastic bag upward from the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand lifts the top edge of the black plastic bag upward. | Right hand: reach: Right hand reaches toward the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches toward the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 180, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: other:insert_hand_into_black_plastic_bag: Right hand inserts its hand into the black plastic bag held by the left hand."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: transport_release: Right hand transports the black plastic bag upward and releases the bag from its grasp."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: transport: Left hand transports the black plastic bag upward while holding it firmly. | Right hand: retreat: Right hand retreats to the right away from the black plastic bag."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag with fingers closing around the edge."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: pull: Left hand pulls the top-left edge of the black plastic bag leftward and upward to widen the bag opening. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward to widen the bag opening."}, {"label": "subtasks", "start_step": 495, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: place: Left hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 585, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: place: Right hand holds the top edge of the black plastic bag and lowers it downward to place the bag onto the mesh trash bin."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: release_retreat: Right hand releases the top edge of the black plastic bag and moves slightly backward away from the bag."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand reaches toward the opening of the black plastic bag from the right side of the frame."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: press: Right hand moves down inside the black plastic bag, pressing the bag against the inner wall of the container."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: retreat: Right hand retreats upward from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: reach: Right hand moves empty-handed toward the right edge of the trash bin, with fingers open."}, {"label": "subtasks", "start_step": 802, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag on the trash bin, with fingers closing around the bag edge."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag resting on the mesh trash bin without moving. | Right hand: hold: Right hand holds the right edge of the black plastic bag on the trash bin without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: release: Right hand releases the top edge of the black plastic bag, with fingers opening to separate from the bag surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: reach: Right hand moves downward toward the right top edge of the black plastic bag, with fingers slightly open."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: grasp: Right hand grasps the right top edge of the black plastic bag, with fingers closing around the bag edge to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: fold: Left hand holds the left top edge of the black plastic bag and folds it over the left outer rim of the trash can, pulling the edge downward to the outside of the rim. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: fold: Right hand holds the right top edge of the black plastic bag and folds it over the right outer rim of the trash can, pulling the edge downward to the outside of the rim."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: hold: Right hand holds the folded right top edge of the black plastic bag against the right outer rim of the trash can without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: reach: Right hand reaches toward the inside of the black plastic bag from the right side of the trash bin."}, {"label": "subtasks", "start_step": 1185, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the folded left top edge of the black plastic bag against the left outer rim of the trash can without moving. | Right hand: other:adjust_bag_inside: Right hand adjusts the inner part of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1290, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: return_home: Left hand, which is empty, moves upward and leftward away from the black mesh trash bin to the upright home position on the left side. | Right hand: return_home: Right hand, which is empty, moves upward and rightward away from the black mesh trash bin to the upright home position on the right side."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upright home position without moving. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00031", "text": "Left hand: grasp_lift: Left hand grasps and lifts the black plastic bag from the trash can, with fingers closing around the bag edge and moving upward. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00032", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward and leftward in the frame. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1468, "id": "reasoning-language-00033", "text": "Left hand: other:out_of_view: Left hand moves out of the frame and is not observable in the field of view. | Right hand: idle: Right hand remains empty at the right upright home position without moving."}], "episode_index": 2} +{"source_uid": "798e58e75a46f322", "num_frames": 1460, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1311, "id": "DPQYAa9pF5hpPJ1AIZM2U"}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "home", "start_step": 1312, "end_step": 1459, "id": "sxSNLeODqTPiOo81IJCPr"}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward and leftward toward the black plastic bag on the left side of the table with fingers open. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 90, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand touches the black plastic bag, fingers close and adjust to form a stable grip on the bag. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 142, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the grasped black plastic bag slightly upward from the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: lift_transport: Left hand lifts the grasped black plastic bag upward off the table and transports it upward continuously. | Right hand: idle: Right hand remains empty at the right side of the table without obvious movement."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: reach: Right hand moves toward the black plastic bag held by Left hand, no contact with the bag yet."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand contacts the black plastic bag, fingers close and adjust to form stable grip on the bag."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: pull: Right hand pulls the edge of the black plastic bag toward its own side."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the black plastic bag without obvious movement. | Right hand: grasp: Right hand grasps the edge of the black plastic bag, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin. | Right hand: lift_transport: Right hand lifts the black plastic bag off the support surface and transports it above the mesh trash bin."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening. | Right hand: place: Right hand places the black plastic bag onto the mesh trash bin, adjusting its position to fit the bin opening."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the right edge of the black plastic bag with fingers open."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves downwards towards the middle part of the black plastic bag."}, {"label": "subtasks", "start_step": 555, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: place: Right hand pushes the middle part of the black plastic bag down into the mesh trash bin."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: release: Right hand releases the black plastic bag, fingers open and moves upwards slightly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: reach: Right hand moves towards the edge of the black plastic bag above the trash bin."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag above the mesh trash bin without moving. | Right hand: fold: Right hand lifts and folds the edge of the black plastic bag upwards."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: release: Right hand releases the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: reach: Right hand reaches towards another edge of the black plastic bag."}, {"label": "subtasks", "start_step": 922, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: fold: Left hand folds the edge of the black plastic bag over the trash bin rim. | Right hand: fold: Right hand folds the edge of the black plastic bag over the trash bin rim."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: idle: Right hand stays empty and still after releasing the black plastic bag."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: reach: Right hand reaches towards the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inner wall of the black plastic bag to fit the mesh."}, {"label": "subtasks", "start_step": 1260, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the folded edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: release_retreat: Left hand releases the black plastic bag and retreats to the left side. | Right hand: retreat: Right hand retreats upwards from the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand retreats from the area near the mesh trash bin and moves towards the home position. | Right hand: retreat: Right hand retreats from the mesh trash bin, releases the edge of the black trash bag during movement, and moves towards the home position."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: idle: Right hand remains empty and stationary at the home position."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: grasp: Right hand grasps the edge of the black plastic bag on the trash bin, fingers close to establish stable grip."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position. | Right hand: lift_transport: Right hand lifts the black plastic bag off the trash bin and moves it towards the left direction."}, {"label": "subtasks", "start_step": 1395, "end_step": 1459, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position."}], "episode_index": 3} +{"source_uid": "504c5a7fd01aa49b", "num_frames": 1276, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "valid", "start_step": 0, "end_step": 1126, "id": "-aV1WzDhLuOSeDggA-Em9"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "home", "start_step": 1127, "end_step": 1275, "id": "G10DnuPyR_ZqIYbvARQIQ"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward with slightly open fingers, approaching the left edge of the crumpled black plastic bag on the table. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand closes fingers around the left edge of the crumpled black plastic bag, adjusting finger positions to establish contact with the bag. | Right hand: idle: Right hand remains empty at the right side of the mesh trash bin without obvious movement."}, {"label": "subtasks", "start_step": 150, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand lifts the pre-grasped black plastic bag upward to raise it completely off the table surface. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 172, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: reach: Right hand moves leftward as an empty hand to approach the right edge of the lifted black plastic bag."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: transport: Left hand holds the left edge of the black plastic bag and moves the bag horizontally to the position directly above the mesh trash can, with the bag opening stretched slightly during movement. | Right hand: transport: Right hand holds the grasped right edge of the black plastic bag, stretches the bag open slightly, and moves it together with the left hand to the position directly above the mesh trash can."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: place: Left hand moves the grasped left edge of the black plastic bag downward to place the bag into the mesh trash can. | Right hand: place: Right hand moves the grasped right edge of the black plastic bag downward to place the bag into the mesh trash can."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position near the right edge of the trash bag to the position directly above the bag opening, with fingers slightly spread, to approach the interior of the trash bag."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: press: Right hand moves downward into the black trash bag, with fingers slightly curved, and presses vertically against the contents inside the bag."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward out of the trash bag, retreating from the bag interior to the position above the bag opening."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: idle: Right hand remains empty and stationary above the trash bag opening without any observable movement."}, {"label": "subtasks", "start_step": 540, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach_grasp: Right hand moves downward toward the right edge of the black trash bag, then closes fingers to grasp the edge."}, {"label": "subtasks", "start_step": 600, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped right edge of the trash bag upward and rightward, lifting the edge away from the trash can rim."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand releases its grip on the right edge of the black trash bag, with fingers opening to separate fully from the bag surface."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves empty upward then downward from its previous position toward the front edge of the black trash bag, approaching the target contact point without touching the bag."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the front edge of the black trash bag to establish a stable grip on the material."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: pull: Right hand pulls the grasped front edge of the black trash bag outward and downward toward itself, stretching the bag edge over the outer rim of the trash bin."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: place: Right hand lowers the grasped front edge of the black trash bag onto the black flat surface below the trash bin rim until the bag edge is fully supported by the surface."}, {"label": "subtasks", "start_step": 802, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions and wrist orientation slightly to stabilize its grip on the trash bag edge resting on the flat surface."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: release: Right hand gradually opens its fingers to release the right edge of the black trash bag, fully separating from the bag surface by the end of the segment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and backward away from the right edge of the trash bag while remaining empty, keeping fingers slightly extended during movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the interior opening of the black trash bag while remaining empty, approaching the inner wall of the bag."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: grasp: Right hand reaches into the trash bag, adjusts its fingers and wrist slightly to grasp the inner wall of the black trash bag, stabilizing contact with the bag surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black trash bag steadily without any observable movement or hand shape change. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: release: Left hand gradually opens its fingers to release the left edge of the black trash bag, starting to separate from the bag surface. | Right hand: retreat: Right hand moves upward and outward from the interior of the trash bag while remaining empty, retreating from the bag opening."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: release: Left hand opens its fingers to release the left edge of the black trash bag, separating from the bag surface. | Right hand: release: Right hand opens its fingers as it moves upward out of the black trash bag opening, releasing contact with the bag."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: retreat: Empty left hand moves upward away from the black trash bag, with fingers gradually extending upward during movement. | Right hand: retreat: Empty right hand moves upward away from the black trash bag, with fingers gradually extending upward during movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward to approach the black trash bag fitted on the bin, fingers close to grasp the edge of the bag. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: lift: Left hand lifts the grasped black trash bag upward until the bag is fully separated from the supporting trash bin below. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand transports the grasped black trash bag toward the lower left direction, moving the bag out of the visible frame area. | Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00031", "text": "Right hand: idle: Right hand remains empty and stationary on the right side of the frame without any observable movement."}], "episode_index": 4} +{"source_uid": "eb92d6bf4dc0caeb", "num_frames": 1219, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 1069, "id": "yIW6MWfGRYPzvR9jTDh4D"}, {"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "home", "start_step": 1070, "end_step": 1218, "id": "vIE_Mbx9_TKhBOWEcdKom"}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:rotate_inward: Left hand rotates inward continuously, with fingers pointing toward the right hand initially and gradually turning downward, moving from the upper left side of the trash bin to above the black plastic bag on the left of the trash bin. | Right hand: other:rotate_inward: Right hand rotates inward continuously, with fingers pointing toward the left hand initially and gradually turning downward, moving from the upper right side of the trash bin to the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 60, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: reach_grasp: Left hand moves downward toward the black plastic bag on the left side of the table and grasps it with fingers closing. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 82, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the black plastic bag on 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": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: grasp: Left hand grasps the black plastic bag on the table, with fingers adjusting to form a stable grip. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00005", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the table and transports it upward. | Right hand: reach: Right hand moves leftward toward the black plastic bag."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves left toward the right edge of the black plastic bag, with no contact established yet."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the left top edge of the black plastic bag without moving. | Right hand: pull: Right hand pulls the right edge of the black plastic bag rightward and slightly upward to widen the bag opening."}, {"label": "subtasks", "start_step": 255, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: place: Left hand holds the left edge of the black plastic bag and moves downward to lower the bag into the black circular opening below. | Right hand: place: Right hand holds the right edge of the black plastic bag and moves downward to lower the bag into the black circular opening below."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: hold: Right hand holds the right edge of the black plastic bag without moving, with the bag placed in the black circular opening."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: reach: Right hand moves from the right edge of the black plastic bag opening to the position above the bag opening, approaching the inside of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: other:adjust_bag_contents: Right hand reaches into the black plastic bag inside the trash can and moves to adjust the contents inside the bag."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag without moving, with the bag placed in the black circular opening. | Right hand: retreat: Right hand moves upward to retreat from the inside of the black plastic bag."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: reach: Right hand moves toward the top right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: grasp: Right hand grasps the top right edge of the black plastic bag as its fingers close around the edge."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: fold: Left hand folds the top left edge of the black plastic bag downward over the left side of the trash bin while gripping the edge. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold_release: Right hand folds the top right edge of the black plastic bag downward over the right side of the trash bin and releases the edge."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves toward the front top edge of the black plastic bag."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: grasp: Right hand grasps the front top edge of the black plastic bag with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 780, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: fold: Right hand folds the front top edge of the black plastic bag downward over the front side of the trash bin while holding the edge."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: release: Right hand releases the front edge of the black plastic bag with fingers opening."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: reach: Right hand moves leftward and upward from the right side of the frame toward the opening of the black plastic bag while empty."}, {"label": "subtasks", "start_step": 938, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: other:adjust_inside_bag: Right hand stays inside the black plastic bag with visible finger and wrist adjusting movements."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic bag still against the left side of the trash bin. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: release_retreat: Left hand releases its grip on the left edge of the black plastic bag while moving leftward away from the bag. | Right hand: retreat: Right hand retreats rightward and upward away from the black plastic bag while empty."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: reach: Left hand reaches toward the left side of the trash can, moving upward and slightly rightward while remaining empty. | Right hand: reach: Right hand reaches toward the right side of the trash can, moving upward and slightly leftward with an open empty hand."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: reach_grasp: Left hand enters from the bottom of the frame, moves upward toward the black plastic bag, and grasps the bag's edge with fingers closing. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00029", "text": "Left hand: lift_transport: Left hand lifts the black plastic bag off the black mesh trash can and transports it leftward out of the frame. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00030", "text": "Left hand: other:out_of_frame: Left hand is out of the frame and not observable. | Right hand: other:out_of_frame: Right hand is out of the frame and not observable."}], "episode_index": 5} +{"source_uid": "d5844cef0d66ea26", "num_frames": 1190, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "valid", "start_step": 0, "end_step": 1040, "id": "yFgpWfOnvKr9zNE6YWQuy"}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "home", "start_step": 1041, "end_step": 1189, "id": "asrImB6upVVbqTB8Zc3vf"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black mesh bin with fingers bending. | Right hand: reach: Right hand moves downward toward the black mesh bin with fingers bending."}, {"label": "subtasks", "start_step": 45, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: reach: Left hand moves toward the black plastic bag located on the left of the trash bin."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: grasp: Left hand adjusts fingers to establish stable grasp on the black plastic bag on the left of the trash bin."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand lifts the grasped edge of the black plastic bag upward."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the left edge of the black plastic bag."}, {"label": "subtasks", "start_step": 188, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the top edge of the black plastic bag without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left edge of the black plastic bag, with minor adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: lift: Left hand lifts the black plastic bag upward by its top edge. | Right hand: lift: Right hand lifts the black plastic bag upward by its left edge."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: transport: Left hand holds the edge of the black plastic bag, transports it to the position above the trash bin. | Right hand: transport: Right hand holds the edge of the black plastic bag, transports it to the position above the trash bin."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: place: Left hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin. | Right hand: place: Right hand lowers the black plastic bag towards the trash bin until the bag is supported by the trash bin."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: release: Right hand opens its fingers to release the edge of the black plastic bag."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: reach: Right hand moves toward the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 428, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: press: Right hand presses the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the edge of the black plastic bag without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00014", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: reach: Right hand reaches toward the right edge of the black plastic bag on the trash rim."}, {"label": "subtasks", "start_step": 562, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: grasp: Left hand adjusts its grasp on the left edge of the black plastic bag on the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 578, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00017", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the right edge of the black plastic bag to fit over the trash rim."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: release: Right hand releases the right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 675, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: reach: Right hand reaches toward another section of the black plastic bag edge on the trash rim."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: grasp: Right hand grasps the targeted section of the black plastic bag edge."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: pull: Left hand pulls the left edge of the black plastic bag to fit over the trash rim. | Right hand: pull: Right hand pulls the targeted section of the black plastic bag edge to fit over the trash rim."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: reach: Right hand moves towards the black plastic bag from the right side of the screen."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: press: Right hand presses and adjusts the inner part of the black plastic bag."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the edge of the trash bin without moving. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: retreat: Left hand releases the edge of the trash bin and retreats to the left side. | Right hand: retreat: Right hand retreats from the inside of the black plastic bag to the upper right side."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves upward and backward to return to the left upright initial home position. | Right hand: return_home: Right hand moves upward and backward to return to the right upright initial home position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: reach_grasp: Left hand enters the frame, reaches and grasps the edge of the black plastic bag in the trash bin."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: lift: Left hand lifts the black plastic bag upward to separate it from the trash bin support."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00029", "text": "Left hand: grasp: Left hand adjusts grip on the black plastic bag by repositioning fingers to stabilize the hold."}, {"label": "subtasks", "start_step": 1170, "end_step": 1189, "id": "reasoning-language-00030", "text": "Left hand: transport: Left hand carries the black plastic bag moving upward."}], "episode_index": 6} +{"source_uid": "2918917e247e9c3f", "num_frames": 1401, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Fit_Trash_Bag_into_Trash_Bin", "tags": {"task_name": "Fit_Trash_Bag_into_Trash_Bin", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "valid", "start_step": 0, "end_step": 1252, "id": "vNeIdmyaOdCfLWKpASq-A"}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "home", "start_step": 1253, "end_step": 1400, "id": "8exFpA0rMceMQ12GZLqer"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves downward toward the black plastic bag on the left side of the table, with fingers slightly open, before contacting the bag surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 90, "end_step": 299, "id": "reasoning-language-00002", "text": "Left hand: grasp: Left hand contacts the black plastic bag on the table, fingers continuously adjust positions, close and reorient to establish a grip on the bag, with the bag remaining resting on the table. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: idle: Right hand remains empty at the right side of the table without noticeable movement, with fingers held in a slightly curled posture."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: reach: Right hand moves left toward the edge of the black plastic bag with fingers slightly open, making no contact with the bag during this movement."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward, lifting the held side of the bag upward while the rest of the bag remains supported by the table surface. | Right hand: grasp: Right hand closes fingers around the edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: release: Left hand opens fingers to release the held edge of the black plastic bag, fully separating the hand from the bag surface by the end of the segment. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: reach: Left hand moves downward and slightly rightward toward the opposite edge of the black plastic bag with an open hand, making no contact with the bag during this movement. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: grasp: Left hand closes fingers around the opposite edge of the black plastic bag, adjusting finger positions to establish a stable grasp on the bag. | Right hand: hold: Right hand holds the grasped edge of the black plastic bag without obvious movement, maintaining the bag's position while the left hand moves to grasp the opposite edge of the bag."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: lift: Left hand grips the edge of the black plastic bag and moves upward together with the right hand, lifting the entire bag completely off the supporting table surface. | Right hand: lift: Right hand grips the edge of the black plastic bag and moves upward together with the left hand, lifting the entire bag completely off the supporting table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: transport: Left hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly leftward to position the bag directly above the mesh trash can. | Right hand: transport: Right hand carries the grasped edge of the lifted black plastic bag, moving upward and slightly rightward to position the bag directly above the mesh trash can."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: place: Left hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure. | Right hand: place: Right hand grips the edge of the black plastic bag and moves downward, lowering the bag into the mesh trash can until the bag is supported by the trash can structure."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release its grip on the right edge of the black plastic trash bag."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward with slightly extended fingers, approaching the contents inside the black plastic trash bag."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: press: Right hand presses vertically downward on the contents inside the black plastic trash bag, applying steady pressure."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward, retreating from the interior of the black plastic trash bag with slightly curled fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves toward the right edge of the black plastic trash bag with extended fingers, approaching the target."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the right edge of the black plastic trash bag, making slight positional adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the stabilized right edge of the black plastic trash bag without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves downward empty toward the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: grasp: Right hand closes fingers around the outer right edge of the black plastic bag to form a stable grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull: Right hand pulls the grasped outer right edge of the black plastic bag downward along the outer right side of the trash bin."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: hold: Right hand holds the outer right edge of the black plastic bag at the lower right of the trash bin without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: release: Right hand opens fingers to release the outer right edge of the black plastic bag."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: retreat: Right hand moves upward empty, retreating from the lower right side of the trash bin."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: reach: Right hand moves from the right outer side of the black trash bag upward toward the bag's mouth, extending fingers downward into the bag interior to approach the inner right wall."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the left edge of the black plastic trash bag over the mesh trash bin without moving. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1192, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: release: Left hand opens its fingers to release the held left edge of the black trash bag, losing contact with the bag surface. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves empty in an upward and leftward direction, retreating away from the position of the black trash bag. | Right hand: pull_release: Right hand contacts the inner right wall of the black trash bag, pulls the wall upward and outward to stretch the bag's open mouth wider, separating from the bag surface by the end of the motion."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Right hand: grasp: Right hand approaches from the bottom of the frame, fingers flex to close around the edge of the black plastic bag inside the trash bin."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00030", "text": "Right hand: lift: Right hand holds the grasped black plastic bag, moves upward to lift the bag completely off the supporting trash bin."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00031", "text": "Right hand: transport: Right hand carries the lifted black plastic bag, moves toward the lower left direction to move the bag out of the visible frame area."}], "episode_index": 7} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/fit_trash_bag_into_bin/season_POC22027_2026_06_04_21_06_46_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..338b21122fb2f0823f8c65aaf7eed91d1e2d2867 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b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..168efbb361d9369c73d8fffeeb2ae313c3b14d02 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/info.json @@ -0,0 +1,537 @@ +{ + "codebase_version": "v2.1", + "robot_type": "robot", + "total_episodes": 1, + "total_frames": 1737, + "total_tasks": 1, + "total_videos": 6, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.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", + 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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/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,5 @@ +{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"} +{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"} +{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"} +{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"} +{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_37_56_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. 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The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1226} +{"episode_index": 8, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. 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"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", + 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"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": { + 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"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/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,5 @@ +{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"} +{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"} +{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"} +{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"} +{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/v40_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..b92abc152735c187983f380e701b1b07864fea55 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/meta/v40_validation.json @@ -0,0 +1,15 @@ +{ + "status": "passed", + "episodes": 9, + "frames": 11299, + "video_frames": { + "observation.images.head_left": 11299, + "observation.images.wrist_left": 11299, + "observation.images.wrist_right": 11299, + "observation.images.head_right": 11299, + "observation.images.tactile_deform": 11299, + "observation.images.tactile_raw": 11299 + }, + "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index", + "language_loaded": 9 +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72d12afa0b1e16b11930a6f814a4b3d02e322813 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_43_09_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4be8f59f563d5cc43085456f21778df1d819ea919f2adf89bc914d70a30e09d +size 19045372 diff --git 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The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1274} +{"episode_index": 5, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1275} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d43a0e6629471ac5bc4e4b0132d69c00e3dd503e --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/episodes_stats.jsonl @@ -0,0 +1,6 @@ +{"episode_index": 0, "stats": {"observation.state": {"min": [1.0001798868179321, -0.801094651222229, -0.2491619884967804, 0.8664698004722595, -1.4967542886734009, -0.7540228366851807, -0.4958339035511017, 0.006010401528328657, -0.27398982644081116, -0.06552710384130478, 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"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/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,5 @@ +{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"} +{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"} +{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"} +{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"} +{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/v40_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..642dc280e4fdd2bd9a46d641dc29a1be8b9015b5 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_10_59_22_train/lerobot_v2.1/meta/v40_validation.json @@ -0,0 +1,15 @@ +{ + "status": "passed", + "episodes": 6, + "frames": 7546, + "video_frames": { + "observation.images.head_left": 7546, + "observation.images.wrist_left": 7546, + "observation.images.wrist_right": 7546, + "observation.images.head_right": 7546, + "observation.images.tactile_deform": 7546, + 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Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1353} +{"episode_index": 1, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1178} +{"episode_index": 2, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1169} +{"episode_index": 3, "tasks": ["Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."], "length": 1148} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/episodes_stats.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ec0efef7c8406539d566ed2090c2e136e88eae9 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/episodes_stats.jsonl @@ -0,0 +1,4 @@ +{"episode_index": 0, "stats": {"observation.state": {"min": [1.0044095516204834, -0.9074636101722717, -0.25209811329841614, 0.7500466108322144, -1.4127362966537476, -0.7541812062263489, -0.28341734409332275, 0.005993237253278494, -0.28566640615463257, -0.2620506286621094, 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"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/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/modality.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/modality.json @@ -0,0 +1,63 @@ +{ + "video": { + "head_left": { + "original_key": "observation.images.head_left" + }, + "wrist_left": { + "original_key": "observation.images.wrist_left" + }, + "wrist_right": { + "original_key": "observation.images.wrist_right" + }, + "head_right": { + "original_key": "observation.images.head_right" + }, + "tactile_deform": { + "original_key": "observation.images.tactile_deform" + }, + "tactile_raw": { + "original_key": "observation.images.tactile_raw" + } + }, + "annotation": { + "human.action.task_description": { + "original_key": "task_index" + } + }, + "state": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "observation.state.tcp_pose" + } + }, + "action": { + "joints": { + "start": 0, + "end": 65, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action" + }, + "tcp_pose": { + "start": 0, + "end": 12, + "rotation_type": null, + "absolute": true, + "dtype": "float32", + "original_key": "action.tcp_pose" + } + } +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/subtasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/subtasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c68f29b92cc8683c5772c8934595261e9e994 --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/subtasks.jsonl @@ -0,0 +1,5 @@ +{"subtask_index": 0, "subtask": "Pick up the trash bag with both hands. | Skill: pick"} +{"subtask_index": 1, "subtask": "Open the trash bag with both hands. | Skill: open"} +{"subtask_index": 2, "subtask": "Fit the opened trash bag into the trash bin with both hands. | Skill: place"} +{"subtask_index": 3, "subtask": "Press the trash bag onto the trash bin with the hands to secure it. | Skill: press"} +{"subtask_index": 4, "subtask": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/tasks.jsonl b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46ab3f9182fc7e452a4cf5c8b3660d006a7020fc --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Task: Fit Trash Bag into Trash Bin | Instruction: Pick up the trash bag with both hands. Open the trash bag. Fit the trash bag into the trash bin. Finally, press the trash bag once to fix it onto the trash bin. | Scene: A trash bag and a trash bin are placed in the scene. The robot needs to pick up the trash bag, open it, fit it into the trash bin, and press it into place. | Success: The trash bag is opened correctly, fitted into the trash bin, and pressed into a stable final position."} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/v40_validation.json b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/v40_validation.json new file mode 100644 index 0000000000000000000000000000000000000000..bcc89546d53e7d5ed01a445c4b33e7b9f34d488a --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/meta/v40_validation.json @@ -0,0 +1,15 @@ +{ + "status": "passed", + "episodes": 4, + "frames": 4848, + "video_frames": { + "observation.images.head_left": 4848, + "observation.images.wrist_left": 4848, + "observation.images.wrist_right": 4848, + "observation.images.head_right": 4848, + "observation.images.tactile_deform": 4848, + "observation.images.tactile_raw": 4848 + }, + "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index", + "language_loaded": 4 +} diff --git a/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe9a46c687a0fd254ca7d47289ccbfee7bd3943b --- /dev/null +++ b/fit_trash_bag_into_bin/season_POC22027_2026_06_05_11_22_27_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df5f869efcc8b304542d468ec031877b507a6468fe30dc5bd2594c2e16030f4d +size 20544370 diff --git 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